519 lines
19 KiB
C
519 lines
19 KiB
C
//#############################################################################
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//
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// FILE: device.h
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//
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// TITLE: Device setup for examples.
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//
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//#############################################################################
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//
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//
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// $Copyright:
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// Copyright (C) 2022 Texas Instruments Incorporated - http://www.ti.com
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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//
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// Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the
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// distribution.
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//
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// Neither the name of Texas Instruments Incorporated nor the names of
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// its contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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// $
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//#############################################################################
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#ifndef __DEVICE_H__
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#define __DEVICE_H__
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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//
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// Included Files
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//
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#include "driverlib.h"
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#if (!defined(CPU1) && !defined(CPU2))
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#error "You must define CPU1 or CPU2 in your project properties. Otherwise, \
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the offsets in your header files will be inaccurate."
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#endif
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#if (defined(CPU1) && defined(CPU2))
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#error "You have defined both CPU1 and CPU2 in your project properties. Only \
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a single CPU should be defined."
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#endif
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//
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// Check for invalid compile flags
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//
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#if defined(__TMS320C28XX_TMU1__)
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#error "Invalid TMU Configuration"
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#endif
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//*****************************************************************************
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//
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// Defines for pin numbers and other GPIO configuration
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//
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//*****************************************************************************
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//
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// LEDs
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//
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#define DEVICE_GPIO_PIN_LED1 31U // GPIO number for LD1
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#define DEVICE_GPIO_PIN_LED2 34U // GPIO number for LD2
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#define DEVICE_GPIO_PIN_LED3 145U // GPIO number for LD7 (EtherCAT Error LED)
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#define DEVICE_GPIO_PIN_LED4 146U // GPIO number for LD8 (EtherCAT Run LED)
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#define DEVICE_GPIO_CFG_LED1 GPIO_31_GPIO31 // "pinConfig" for LD1
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#define DEVICE_GPIO_CFG_LED2 GPIO_34_GPIO34 // "pinConfig" for LD2
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#define DEVICE_GPIO_CFG_LED3 GPIO_145_GPIO145 // "pinConfig" for LD7
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#define DEVICE_GPIO_CFG_LED4 GPIO_146_GPIO146 // "pinConfig" for LD8
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//
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// SCI for USB-to-UART adapter on FTDI chip
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//
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#define DEVICE_GPIO_PIN_SCIRXDA 28U // GPIO number for SCI RX
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#define DEVICE_GPIO_PIN_SCITXDA 29U // GPIO number for SCI TX
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#define DEVICE_GPIO_CFG_SCIRXDA GPIO_28_SCIA_RX // "pinConfig" for SCI RX
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#define DEVICE_GPIO_CFG_SCITXDA GPIO_29_SCIA_TX // "pinConfig" for SCI TX
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//
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// CANA
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//
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#define DEVICE_GPIO_PIN_CANTXA 37U // GPIO number for CANTXA
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#define DEVICE_GPIO_PIN_CANRXA 36U // GPIO number for CANRXA
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//
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// CAN External Loopback
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//
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#define DEVICE_GPIO_CFG_CANRXA GPIO_36_CANA_RX // "pinConfig" for CANA RX
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#define DEVICE_GPIO_CFG_CANTXA GPIO_37_CANA_TX // "pinConfig" for CANA TX
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#define DEVICE_GPIO_CFG_CANRXB GPIO_10_CANB_RX // "pinConfig" for CANB RX
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#define DEVICE_GPIO_CFG_CANTXB GPIO_12_CANB_TX // "pinConfig" for CANB TX
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//
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// MCAN
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//
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#define DEVICE_GPIO_CFG_MCANRXA GPIO_30_MCAN_RX // "pinConfig" for MCAN RX
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#define DEVICE_GPIO_CFG_MCANTXA GPIO_31_MCAN_TX // "pinConfig" for MCAN TX
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//
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// FSI
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//
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#define DEVICE_GPIO_PIN_FSI_RXCLKA 9U // GPIO number for FSI RXCLKA
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#define DEVICE_GPIO_PIN_FSI_RX0A 8U // GPIO number for FSI RX0A
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#define DEVICE_GPIO_PIN_FSI_RX1A 10U // GPIO number for FSI RX1A
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#define DEVICE_GPIO_PIN_FSI_RXCLKB 60U // GPIO number for FSI RXCLKB
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#define DEVICE_GPIO_PIN_FSI_RX0B 58U // GPIO number for FSI RX0B
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#define DEVICE_GPIO_PIN_FSI_RX1B 59U // GPIO number for FSI RX1B
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#define DEVICE_GPIO_PIN_FSI_RXCLKC 14U // GPIO number for FSI RXCLKC
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#define DEVICE_GPIO_PIN_FSI_RX0C 12U // GPIO number for FSI RX0C
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#define DEVICE_GPIO_PIN_FSI_RX1C 13U // GPIO number for FSI RX1C
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#define DEVICE_GPIO_CFG_FSI_TXCLK GPIO_27_FSITXA_CLK // "pinConfig" for FSI TXCLK
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#define DEVICE_GPIO_CFG_FSI_TX0 GPIO_26_FSITXA_D0 // "pinConfig" for FSI TX0
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#define DEVICE_GPIO_CFG_FSI_TX1 GPIO_25_FSITXA_D1 // "pinConfig" for FSI TX1
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#define DEVICE_GPIO_CFG_FSI_RXCLKA GPIO_9_FSIRXA_CLK // "pinConfig" for FSI RXCLKA
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#define DEVICE_GPIO_CFG_FSI_RX0A GPIO_8_FSIRXA_D0 // "pinConfig" for FSI RX0A
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#define DEVICE_GPIO_CFG_FSI_RX1A GPIO_10_FSIRXA_D1 // "pinConfig" for FSI RX1A
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#define DEVICE_GPIO_CFG_FSI_RXCLKB GPIO_60_FSIRXB_CLK // "pinConfig" for FSI RXCLKB
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#define DEVICE_GPIO_CFG_FSI_RX0B GPIO_58_FSIRXB_D0 // "pinConfig" for FSI RX0B
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#define DEVICE_GPIO_CFG_FSI_RX1B GPIO_59_FSIRXB_D1 // "pinConfig" for FSI RX1B
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#define DEVICE_GPIO_CFG_FSI_RXCLKC GPIO_14_FSIRXC_CLK // "pinConfig" for FSI RXCLKC
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#define DEVICE_GPIO_CFG_FSI_RX0C GPIO_12_FSIRXC_D0 // "pinConfig" for FSI RX0C
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#define DEVICE_GPIO_CFG_FSI_RX1C GPIO_13_FSIRXC_D1 // "pinConfig" for FSI RX1C
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//! --------------------------------
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//! Signal | I2CA | I2CB
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//! --------------------------------
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//! SCL | GPIO105 | GPIO41
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//! SDA | GPIO104 | GPIO40
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//! --------------------------------
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//I2CA GPIO pins
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#define DEVICE_GPIO_PIN_SDAA 104
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#define DEVICE_GPIO_PIN_SCLA 105
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//I2CB GPIO pins
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#define DEVICE_GPIO_PIN_SDAB 40
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#define DEVICE_GPIO_PIN_SCLB 41
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#define DEVICE_GPIO_CFG_SDAA GPIO_104_I2CA_SDA
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#define DEVICE_GPIO_CFG_SCLA GPIO_105_I2CA_SCL
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#define DEVICE_GPIO_CFG_SDAB GPIO_40_I2CB_SDA
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#define DEVICE_GPIO_CFG_SCLB GPIO_41_I2CB_SCL
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//*****************************************************************************
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//
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// Defines related to clock configuration
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//
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//*****************************************************************************
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#ifdef USE_20MHZ_XTAL
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//
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// 20MHz XTAL on controlCARD. For use with SysCtl_getClock() and
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// SysCtl_getAuxClock().
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//
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#define DEVICE_OSCSRC_FREQ 20000000U
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//
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// Define to pass to SysCtl_setClock(). Will configure the clock as follows:
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// PLLSYSCLK = 20MHz (XTAL_OSC) * 40 (IMULT) / (2 (REFDIV) * 2 (ODIV) * 1(SYSDIV))
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//
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#define DEVICE_SETCLOCK_CFG (SYSCTL_OSCSRC_XTAL | SYSCTL_IMULT(40) | \
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SYSCTL_REFDIV(2) | SYSCTL_ODIV(2) | \
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SYSCTL_SYSDIV(1) | SYSCTL_PLL_ENABLE | \
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SYSCTL_DCC_BASE_1)
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//
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// 200MHz SYSCLK frequency based on the above DEVICE_SETCLOCK_CFG. Update the
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// code below if a different clock configuration is used!
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//
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#define DEVICE_SYSCLK_FREQ ((DEVICE_OSCSRC_FREQ * 40) / (2 * 2 * 1))
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//
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// 50MHz LSPCLK frequency based on the above DEVICE_SYSCLK_FREQ and a default
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// low speed peripheral clock divider of 4. Update the code below if a
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// different LSPCLK divider is used!
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//
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#define DEVICE_LSPCLK_FREQ (DEVICE_SYSCLK_FREQ / 4)
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//
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// Define to pass to SysCtl_setAuxClock(). Will configure the clock as follows:
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// AUXPLLCLK = 20MHz (XTAL_OSC) * 50 (IMULT) / (2 (REFDIV) * 4 (ODIV) * 1(AUXPLLDIV) )
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//
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#define DEVICE_AUXSETCLOCK_CFG (SYSCTL_AUXPLL_OSCSRC_XTAL | SYSCTL_AUXPLL_IMULT(50) | \
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SYSCTL_REFDIV(2U) | SYSCTL_ODIV(4U) | \
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SYSCTL_AUXPLL_DIV_1 | SYSCTL_AUXPLL_ENABLE | \
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SYSCTL_DCC_BASE_0)
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//
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// 125MHz AUXCLK frequency based on the above DEVICE_AUXSETCLOCK_CFG. Update
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// the code below if a different clock configuration is used!
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//
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#define DEVICE_AUXCLK_FREQ ((DEVICE_OSCSRC_FREQ * 50) / (2 * 4 * 1))
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#else // USE_25MHZ_XTAL
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//
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// 25MHz XTAL on controlCARD. For use with SysCtl_getClock() and
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// SysCtl_getAuxClock().
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//
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#define DEVICE_OSCSRC_FREQ 25000000U
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//
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// Define to pass to SysCtl_setClock(). Will configure the clock as follows:
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// PLLSYSCLK = 25MHz (XTAL_OSC) * 32 (IMULT) / (2 (REFDIV) * 2 (ODIV) * 1(SYSDIV))
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//
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#define DEVICE_SETCLOCK_CFG (SYSCTL_OSCSRC_XTAL | SYSCTL_IMULT(32) | \
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SYSCTL_REFDIV(2) | SYSCTL_ODIV(2) | \
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SYSCTL_SYSDIV(1) | SYSCTL_PLL_ENABLE | \
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SYSCTL_DCC_BASE_1)
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//
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// 200MHz SYSCLK frequency based on the above DEVICE_SETCLOCK_CFG. Update the
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// code below if a different clock configuration is used!
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//
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#define DEVICE_SYSCLK_FREQ ((DEVICE_OSCSRC_FREQ * 32) / (2 * 2 * 1))
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//
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// 50MHz LSPCLK frequency based on the above DEVICE_SYSCLK_FREQ and a default
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// low speed peripheral clock divider of 4. Update the code below if a
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// different LSPCLK divider is used!
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//
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#define DEVICE_LSPCLK_FREQ (DEVICE_SYSCLK_FREQ / 4)
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//
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// Define to pass to SysCtl_setAuxClock(). Will configure the clock as follows:
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// AUXPLLCLK = 25MHz (XTAL_OSC) * 40 (IMULT) / (2 (REFDIV) * 4 (ODIV) * 1(AUXPLLDIV) )
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//
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#define DEVICE_AUXSETCLOCK_CFG (SYSCTL_AUXPLL_OSCSRC_XTAL | SYSCTL_AUXPLL_IMULT(40) | \
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SYSCTL_REFDIV(2U) | SYSCTL_ODIV(4U) | \
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SYSCTL_AUXPLL_DIV_1 | SYSCTL_AUXPLL_ENABLE | \
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SYSCTL_DCC_BASE_0)
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//
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// 125MHz AUXCLK frequency based on the above DEVICE_AUXSETCLOCK_CFG. Update
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// the code below if a different clock configuration is used!
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//
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#define DEVICE_AUXCLK_FREQ ((DEVICE_OSCSRC_FREQ * 40) / (2 * 4 * 1))
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#endif
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//*****************************************************************************
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//
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// Macro to call SysCtl_delay() to achieve a delay in microseconds. The macro
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// will convert the desired delay in microseconds to the count value expected
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// by the function. \b x is the number of microseconds to delay.
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//
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//*****************************************************************************
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#define DEVICE_DELAY_US(x) SysCtl_delay(((((long double)(x)) / (1000000.0L / \
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(long double)DEVICE_SYSCLK_FREQ)) - 9.0L) / 5.0L)
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//
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// Defines for setting FSI clock speeds
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//
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#define FSI_PRESCALE_50MHZ 2U
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#define FSI_PRESCALE_25MHZ 4U
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#define FSI_PRESCALE_10MHZ 10U
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#define FSI_PRESCALE_5MHZ 20U
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//*****************************************************************************
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//
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// Macros related to booting CPU2 and CM. These can be used while invoking the
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// functions Device_bootCPU2() and Device_bootCM().
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//
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// Note that the macros CM_BOOT_FREQ_125MHZ and CPU2_BOOT_FREQ_200MHZ are used
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// in the functions Device_bootCM() and Device_bootCPU2() respectively. Please
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// update the function and the macros if you are using a different clock
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// frequency.
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//
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//*****************************************************************************
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#ifdef CPU1
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#define BOOT_KEY 0x5A000000UL
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#define CM_BOOT_FREQ_125MHZ 0x7D00U
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#define CPU2_BOOT_FREQ_200MHZ 0xC800U
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#define BOOTMODE_BOOT_TO_FLASH_SECTOR0 0x03U
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#define BOOTMODE_BOOT_TO_FLASH_SECTOR4 0x23U
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#define BOOTMODE_BOOT_TO_FLASH_SECTOR8 0x43U
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#define BOOTMODE_BOOT_TO_FLASH_SECTOR13 0x63U
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#define BOOTMODE_BOOT_TO_SECURE_FLASH_SECTOR0 0x0AU
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#define BOOTMODE_BOOT_TO_SECURE_FLASH_SECTOR4 0x2AU
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#define BOOTMODE_BOOT_TO_SECURE_FLASH_SECTOR8 0x4AU
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#define BOOTMODE_BOOT_TO_SECURE_FLASH_SECTOR13 0x6AU
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#define BOOTMODE_IPC_MSGRAM_COPY_BOOT_TO_M1RAM 0x0CU
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#define BOOTMODE_IPC_MSGRAM_COPY_BOOT_TO_S0RAM 0x0CU
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#define BOOTMODE_BOOT_TO_M0RAM 0x05U
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#define BOOTMODE_BOOT_TO_S0RAM 0x05U
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#define BOOTMODE_BOOT_TO_USEROTP 0x0BU
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#define BOOTMODE_IPC_MSGRAM_COPY_LENGTH_100W 0x10000U
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#define BOOTMODE_IPC_MSGRAM_COPY_LENGTH_200W 0x20000U
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#define BOOTMODE_IPC_MSGRAM_COPY_LENGTH_300W 0x30000U
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#define BOOTMODE_IPC_MSGRAM_COPY_LENGTH_400W 0x40000U
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#define BOOTMODE_IPC_MSGRAM_COPY_LENGTH_500W 0x50000U
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#define BOOTMODE_IPC_MSGRAM_COPY_LENGTH_600W 0x60000U
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#define BOOTMODE_IPC_MSGRAM_COPY_LENGTH_700W 0x70000U
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#define BOOTMODE_IPC_MSGRAM_COPY_LENGTH_800W 0x80000U
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#define BOOTMODE_IPC_MSGRAM_COPY_LENGTH_900W 0x90000U
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#define BOOTMODE_IPC_MSGRAM_COPY_LENGTH_1000W 0xA0000U
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#endif
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//*****************************************************************************
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//
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// Defines, Globals, and Header Includes related to Flash Support
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//
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//*****************************************************************************
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#ifdef _FLASH
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#include <stddef.h>
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#ifndef CMDTOOL
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extern uint16_t RamfuncsLoadStart;
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extern uint16_t RamfuncsLoadEnd;
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extern uint16_t RamfuncsLoadSize;
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extern uint16_t RamfuncsRunStart;
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extern uint16_t RamfuncsRunEnd;
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extern uint16_t RamfuncsRunSize;
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#endif
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#define DEVICE_FLASH_WAITSTATES 3
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#endif
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//*****************************************************************************
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//
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// Function Prototypes
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//
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//*****************************************************************************
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//*****************************************************************************
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//
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//! \addtogroup device_api
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//! @{
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//
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//*****************************************************************************
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//*****************************************************************************
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//
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//! @brief Function to initialize the device. Primarily initializes system control to a
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//! known state by disabling the watchdog, setting up the SYSCLKOUT frequency,
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//! and enabling the clocks to the peripherals.
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//!
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//! \param None.
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//! \return None.
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//
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//*****************************************************************************
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extern void Device_init(void);
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#ifdef CPU1
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//*****************************************************************************
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//
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//! @brief Function to boot CPU2.
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//!
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//! \param bootmode is the mode in which CPU2 should boot.
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//!
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//! Available bootmodes :
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//! - BOOTMODE_BOOT_TO_FLASH_SECTOR0
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//! - BOOTMODE_BOOT_TO_FLASH_SECTOR4
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//! - BOOTMODE_BOOT_TO_FLASH_SECTOR8
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//! - BOOTMODE_BOOT_TO_FLASH_SECTOR13
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//! - BOOTMODE_BOOT_TO_SECURE_FLASH_SECTOR0
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//! - BOOTMODE_BOOT_TO_SECURE_FLASH_SECTOR4
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//! - BOOTMODE_BOOT_TO_SECURE_FLASH_SECTOR8
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//! - BOOTMODE_BOOT_TO_SECURE_FLASH_SECTOR13
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//! - BOOTMODE_IPC_MSGRAM_COPY_BOOT_TO_M1RAM
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//! - BOOTMODE_BOOT_TO_M0RAM
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//! - BOOTMODE_BOOT_TO_USEROTP
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//!
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//! Note that while using BOOTMODE_IPC_MSGRAM_COPY_BOOT_TO_M1RAM,
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//! BOOTMODE_IPC_MSGRAM_COPY_LENGTH_xxxW must be ORed with the bootmode parameter
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//!
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//! This function must be called after Device_init function
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//! \return None.
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//
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//*****************************************************************************
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extern void Device_bootCPU2(uint32_t bootmode);
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//*****************************************************************************
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//
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//! @brief Function to boot CM
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//!
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//! \param bootmode is the mode in which CM should boot.
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//!
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//! Available bootmodes :
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//! - BOOTMODE_BOOT_TO_FLASH_SECTOR0
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//! - BOOTMODE_BOOT_TO_FLASH_SECTOR4
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//! - BOOTMODE_BOOT_TO_FLASH_SECTOR8
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//! - BOOTMODE_BOOT_TO_FLASH_SECTOR13
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//! - BOOTMODE_BOOT_TO_SECURE_FLASH_SECTOR0
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//! - BOOTMODE_BOOT_TO_SECURE_FLASH_SECTOR4
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//! - BOOTMODE_BOOT_TO_SECURE_FLASH_SECTOR8
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//! - BOOTMODE_BOOT_TO_SECURE_FLASH_SECTOR13
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//! - BOOTMODE_IPC_MSGRAM_COPY_BOOT_TO_S0RAM
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//! - BOOTMODE_BOOT_TO_S0RAM
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//! - BOOTMODE_BOOT_TO_USEROTP
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//!
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//! Note that while using BOOTMODE_IPC_MSGRAM_COPY_BOOT_TO_M1RAM,
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//! BOOTMODE_IPC_MSGRAM_COPY_LENGTH_xxxW must be ORed with the bootmode parameter
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//!
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//! This function must be called after Device_init function
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//! \return None.
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//
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//*****************************************************************************
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extern void Device_bootCM(uint32_t bootmode);
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//*****************************************************************************
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//
|
|
//!
|
|
//! @brief Function to verify the XTAL frequency
|
|
//! \param freq is the XTAL frequency in MHz
|
|
//! \return The function return true if the the actual XTAL frequency matches with the
|
|
//! input value
|
|
//
|
|
//*****************************************************************************
|
|
extern bool Device_verifyXTAL(float freq);
|
|
#endif
|
|
|
|
//*****************************************************************************
|
|
//!
|
|
//!
|
|
//! @brief Function to turn on all peripherals, enabling reads and writes to the
|
|
//! peripherals' registers.
|
|
//!
|
|
//! Note that to reduce power, unused peripherals should be disabled.
|
|
//!
|
|
//! @param None
|
|
//! @return None
|
|
//
|
|
//*****************************************************************************
|
|
extern void Device_enableAllPeripherals(void);
|
|
//*****************************************************************************
|
|
//!
|
|
//!
|
|
//! @brief Function to disable pin locks on GPIOs.
|
|
//!
|
|
//! @param None
|
|
//! @return None
|
|
//
|
|
//*****************************************************************************
|
|
extern void Device_initGPIO(void);
|
|
//*****************************************************************************
|
|
//!
|
|
//! @brief Function to enable pullups for the unbonded GPIOs on the 176PTP package:
|
|
//! GPIOs Grp Bits
|
|
//! 95-132 C 31
|
|
//! D 31:0
|
|
//! E 4:0
|
|
//! 134-168 E 31:6
|
|
//! F 8:0
|
|
//!
|
|
//! @param None
|
|
//! @return None
|
|
//
|
|
//*****************************************************************************
|
|
extern void Device_enableUnbondedGPIOPullupsFor176Pin(void);
|
|
//*****************************************************************************
|
|
//!
|
|
//! @brief Function to enable pullups for the unbonded GPIOs on the
|
|
//! 176PTP package.
|
|
//!
|
|
//! @param None
|
|
//! @return None
|
|
//
|
|
//*****************************************************************************
|
|
|
|
extern void Device_enableUnbondedGPIOPullups(void);
|
|
//*****************************************************************************
|
|
//!
|
|
//! @brief Error handling function to be called when an ASSERT is violated
|
|
//!
|
|
//! @param *filename File name in which the error has occurred
|
|
//! @param line Line number within the file
|
|
//! @return None
|
|
//
|
|
//*****************************************************************************
|
|
|
|
extern void __error__(const char *filename, uint32_t line);
|
|
|
|
//*****************************************************************************
|
|
//
|
|
// Close the Doxygen group.
|
|
//! @}
|
|
//
|
|
//*****************************************************************************
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif // __DEVICE_H__
|