Linux/PROCESSOR-SDK-OMAPL138: Loading TI-RTOS DSP Firmware from Linux

Hi Sahin, I was able to compile and load the the Firmware into the DSP from the ARM, however it doesn't work, I think because McASP isn't initialized because I commented out "board_init" function inside this function.

void configureAudio(void)
{
	Board_STATUS stat = BOARD_SOK;
	Board_initCfg arg = BOARD_INIT_PINMUX_CONFIG | BOARD_INIT_UART_STDIO;
	//stat = Board_init(arg);
	return;
}

I followed instructions in this link, but I don't think McASP nor USB is starting because of the board_init function. I have disabled USB/MCASP/EDMA/I2C inside the device tree and the Linux Kernel Menuconfig.

root@omapl138-lcdk:~/Projects# cp omapl138_usb_audio_dsp.out /lib/firmware/rproc-dsp-fw
root@omapl138-lcdk:~/Projects# ls /lib/firmware
ipc           rproc-dsp-fw
root@omapl138-lcdk:~/Projects# ls -l /lib/firmware
drwxr-xr-x    3 root     root          4096 Jun 12  2018 ipc
-rw-r--r--    1 root     root       5776812 Mar 26 14:59 rproc-dsp-fw
root@omapl138-lcdk:~/Projects# cd /sys/bus/platform/drivers/davinci-rproc/
root@omapl138-lcdk:/sys/bus/platform/drivers/davinci-rproc# echo davinci-rproc.0 > unbind
remoteproc remoteproc0: releasing dsp
root@omapl138-lcdk:/sys/bus/platform/drivers/davinci-rproc# echo davinci-rproc.0 > bind
davinci-rproc davinci-rproc.0: assigned reserved memory node dsp_cma@c3000000
remoteproc remoteproc0: dsp is available
root@omapl138-lcdk:/sys/bus/platform/drivers/davinci-rproc# remoteproc remoteproc0: powering up dsp
remoteproc remoteproc0: Booting fw image rproc-dsp-fw, size 5776812
virtio_rpmsg_bus virtio0: rpmsg host is online
remoteproc remoteproc0: registered virtio0 (type 7)
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It still causes the kernel to crash when I use Board_init.

I have attached my device-tree files, but UART isn't being used in any of them.

/*
 * Copyright (c) 2016 BayLibre, Inc.
 *
 * Licensed under GPLv2.
 */
/dts-v1/;
#include "da850.dtsi"
#include <dt-bindings/gpio/gpio.h>
#include <dt-bindings/input/input.h>

/ {
	model = "DA850/AM1808/OMAP-L138 LCDK";
	compatible = "ti,da850-lcdk", "ti,da850";

	aliases {
		serial2 = &serial2;
		ethernet0 = &eth0;
	};

	chosen {
		stdout-path = "serial2:115200n8";
	};

	memory {
		device_type = "memory";
		reg = <0xc0000000 0x08000000>;
	};

	reserved-memory {
		#address-cells = <1>;
		#size-cells = <1>;
		ranges;

		dsp_cma_pool: dsp_cma@c3000000 {
			compatible = "shared-dma-pool";
			reg = <0xc3000000 0x1000000>;
			reusable;
			status = "okay";
		};
	};

	sound {
		compatible = "simple-audio-card";
		simple-audio-card,name = "DA850/OMAP-L138 LCDK";
		simple-audio-card,widgets =
			"Line", "Line In",
			"Line", "Line Out";
		simple-audio-card,routing =
			"LINE1L", "Line In",
			"LINE1R", "Line In",
			"Line Out", "LLOUT",
			"Line Out", "RLOUT";
		simple-audio-card,format = "dsp_b";
		simple-audio-card,bitclock-master = <&link0_codec>;
		simple-audio-card,frame-master = <&link0_codec>;
		simple-audio-card,bitclock-inversion;

		simple-audio-card,cpu {
			sound-dai = <&mcasp0>;
			system-clock-frequency = <24576000>;
		};

		link0_codec: simple-audio-card,codec {
			sound-dai = <&tlv320aic3106>;
			system-clock-frequency = <24576000>;
		};
	};

	gpio-keys {
		compatible = "gpio-keys";
		autorepeat;

		user1 {
			label = "GPIO Key USER1";
			linux,code = <BTN_0>;
			gpios = <&gpio 36 GPIO_ACTIVE_LOW>;
		};

		user2 {
			label = "GPIO Key USER2";
			linux,code = <BTN_1>;
			gpios = <&gpio 37 GPIO_ACTIVE_LOW>;
		};
	};

	vga-bridge {
		compatible = "ti,ths8135";
		#address-cells = <1>;
		#size-cells = <0>;

		ports {
			#address-cells = <1>;
			#size-cells = <0>;

			port@0 {
				reg = <0>;

				vga_bridge_in: endpoint {
					remote-endpoint = <&lcdc_out_vga>;
				};
			};

			port@1 {
				reg = <1>;

				vga_bridge_out: endpoint {
					remote-endpoint = <&vga_con_in>;
				};
			};
		};
	};

	vga {
		compatible = "vga-connector";

		ddc-i2c-bus = <&i2c0>;

		port {
			vga_con_in: endpoint {
				remote-endpoint = <&vga_bridge_out>;
			};
		};
	};
};

&pmx_core {
	status = "okay";

	mcasp0_pins: pinmux_mcasp0_pins {
		pinctrl-single,bits = <
			/* AHCLKX AFSX ACLKX */
			0x00 0x00101010 0x00f0f0f0
			/* ARX13 ARX14 */
			0x04 0x00000110 0x00000ff0
		>;
	};

	nand_pins: nand_pins {
		pinctrl-single,bits = <
			/* EMA_WAIT[0], EMA_OE, EMA_WE, EMA_CS[3] */
			0x1c 0x10110010  0xf0ff00f0
			/*
			 * EMA_D[0], EMA_D[1], EMA_D[2],
			 * EMA_D[3], EMA_D[4], EMA_D[5],
			 * EMA_D[6], EMA_D[7]
			 */
			0x24 0x11111111  0xffffffff
			/*
			 * EMA_D[8],  EMA_D[9],  EMA_D[10],
			 * EMA_D[11], EMA_D[12], EMA_D[13],
			 * EMA_D[14], EMA_D[15]
			 */
			0x20 0x11111111  0xffffffff
			/* EMA_A[1], EMA_A[2] */
			0x30 0x01100000  0x0ff00000
		>;
	};
};

&serial2 {
	pinctrl-names = "default";
	pinctrl-0 = <&serial2_rxtx_pins>;
	status = "okay";
};

&wdt {
	status = "okay";
};

&rtc0 {
	status = "okay";
};

&gpio {
	status = "okay";
};

&sata {
	status = "okay";
};

&mdio {
	pinctrl-names = "default";
	pinctrl-0 = <&mdio_pins>;
	bus_freq = <2200000>;
	status = "okay";
};

&eth0 {
	pinctrl-names = "default";
	pinctrl-0 = <&mii_pins>;
	status = "okay";
};

&mmc0 {
	max-frequency = <50000000>;
	bus-width = <4>;
	pinctrl-names = "default";
	pinctrl-0 = <&mmc0_pins>;
	cd-gpios = <&gpio 64 GPIO_ACTIVE_LOW>;
	status = "okay";
};

&i2c0 {
	pinctrl-names = "default";
	pinctrl-0 = <&i2c0_pins>;
	clock-frequency = <100000>;
	status = "disabled";

	tlv320aic3106: tlv320aic3106@18 {
		#sound-dai-cells = <0>;
		compatible = "ti,tlv320aic3106";
		reg = <0x18>;
		status = "disabled";
	};
};

&mcasp0 {
	#sound-dai-cells = <0>;
	pinctrl-names = "default";
	pinctrl-0 = <&mcasp0_pins>;
	status = "disabled";

	op-mode = <0>;   /* DAVINCI_MCASP_IIS_MODE */
	tdm-slots = <2>;
	serial-dir = <   /* 0: INACTIVE, 1: TX, 2: RX */
		0 0 0 0
		0 0 0 0
		0 0 0 0
		0 1 2 0
	>;
	tx-num-evt = <32>;
	rx-num-evt = <32>;
};

&usb_phy {
	status = "okay";
};

&usb0 {
	status = "okay";
};

&usb1 {
	status = "okay";
};

&aemif {
	pinctrl-names = "default";
	pinctrl-0 = <&nand_pins>;
	status = "okay";
	cs3 {
		#address-cells = <2>;
		#size-cells = <1>;
		clock-ranges;
		ranges;

		ti,cs-chipselect = <3>;

		nand@2000000,0 {
			compatible = "ti,davinci-nand";
			#address-cells = <1>;
			#size-cells = <1>;
			reg = <0 0x02000000 0x02000000
			       1 0x00000000 0x00008000>;

			ti,davinci-chipselect = <1>;
			ti,davinci-mask-ale = <0>;
			ti,davinci-mask-cle = <0>;
			ti,davinci-mask-chipsel = <0>;

			ti,davinci-nand-buswidth = <16>;
			ti,davinci-ecc-mode = "hw";
			ti,davinci-ecc-bits = <4>;
			ti,davinci-nand-use-bbt;

			/*
			 * The OMAP-L132/L138 Bootloader doc SPRAB41E reads:
			 * "To boot from NAND Flash, the AIS should be written
			 * to NAND block 1 (NAND block 0 is not used by default)".
			 * The same doc mentions that for ROM "Silicon Revision 2.1",
			 * "Updated NAND boot mode to offer boot from block 0 or block 1".
			 * However the limitaion is left here by default for compatibility
			 * with older silicon and because it needs new boot pin settings
			 * not possible in stock LCDK.
			 */
			partitions {
				compatible = "fixed-partitions";
				#address-cells = <1>;
				#size-cells = <1>;

				partition@0 {
					label = "u-boot env";
					reg = <0 0x020000>;
				};
				partition@0x020000 {
					/* The LCDK defaults to booting from this partition */
					label = "u-boot";
					reg = <0x020000 0x080000>;
				};
				partition@0x0a0000 {
					label = "free space";
					reg = <0x0a0000 0>;
				};
			};
		};
	};
};

&prictrl {
	status = "okay";
};

&memctrl {
	status = "okay";
};

&lcdc {
	status = "okay";
	pinctrl-names = "default";
	pinctrl-0 = <&lcd_pins>;

	port {
		lcdc_out_vga: endpoint {
			remote-endpoint = <&vga_bridge_in>;
		};
	};
};

&vpif {
	pinctrl-names = "default";
	pinctrl-0 = <&vpif_capture_pins>;
	status = "okay";

	/* VPIF capture port */
	port {
		vpif_ch0: endpoint {
			  bus-width = <8>;
		};
	};
};

&dsp {
	status = "okay";
	memory-region = <&dsp_cma_pool>;
};

So this example is only able to load if I don't perform Board_init. USB also doesn't work, but I'm not sure if Board_init does anything with the USB.

Hey Rex,

After looking through the related posts and the code I couldn't find anywhere where it used CSL_xbarDmaConfigure or did anything to the MMR_LOCK_2 register. The firmware itself seems to not lock up the system if I comment out the BoardInit function, however if I don't comment it out then it locks up the processor. Going through that function through the JTAG debugger I still couldn't find it doing anything to the MMR_LOCK_2 register.

There is a

static inline void CSL_SysCfgUnlockKicker (void)
{
    hSysCfg->KICK0R = 0x83E70B13;
    hSysCfg->KICK1R = 0x95A4F1E0;
    hSysCfg->CFGCHIP3 |= 0x4;

    return;
}

that is executed through 

if (cfg & BOARD_INIT_UNLOCK_MMR)
    ret = Board_unlockMMR();
if (ret != BOARD_SOK)
    return ret;

I'm not sure whether that toggles MMR_LOCK_2 or not, because I can't find any reference to it anywhere else.

I'm using Processor SDK 04.03.00.05 and same with the RTOS.

Hello Rex,

Commenting out Board_unlockMMR() which calls CSL_SysCfgUnlockKicker() to Unlock the KICK0R and KICK1R doesn't stop the code from going into

static inline void CSL_SysCfgUnlockKicker (void)
{
    //hSysCfg->KICK0R = 0x83E70B13;
    //hSysCfg->KICK1R = 0x95A4F1E0;
    //hSysCfg->CFGCHIP3 |= 0x4;

    return;
}

When I use a JTAG debuffer, the code still goes into here even if the directed functions that call the CSL_SysCfgUnlockKicker() are commented out.

There's also a 

static inline void CSL_SysCfgLockKicker (void)
{
    hSysCfg->KICK0R = 0x1;
    hSysCfg->KICK1R = 0x1;

    return;
}

but it doesn't appear to be called anywhere from the code.

I checked the KICK0R and KICK1R registers at 0x01C14038 and 0x01C1403C, but they always remain 0. So they don't even get changed to the respective values from what I see.

So this is Board_Init from the lcdkOMAPL138.c file

Board_STATUS Board_init(Board_initCfg cfg)
{
    Board_STATUS ret = BOARD_SOK;
    
    if (cfg & BOARD_INIT_UNLOCK_MMR)
        ret = Board_unlockMMR();
    if (ret != BOARD_SOK)
        return ret;

    if (cfg & BOARD_INIT_MODULE_CLOCK)
        ret = Board_moduleClockInit();
    if (ret != BOARD_SOK)
        return ret;

    if (cfg & BOARD_INIT_PLL)
        ret = Board_PLLInit();
    if (ret != BOARD_SOK)
        return ret;

    if (cfg & BOARD_INIT_DDR)
        ret = Board_DDR3Init();
    if (ret != BOARD_SOK)
        return ret;

    if (cfg & BOARD_INIT_WATCHDOG_DISABLE)
        return BOARD_UNSUPPORTED_FEATURE;

    if (cfg & BOARD_INIT_PINMUX_CONFIG)
        ret = Board_pinmuxConfig();
    if (ret != BOARD_SOK)
        return ret;

    if (cfg & BOARD_INIT_EMIF_PINMUX)
        ret = Board_configEmifPinMux();
    if (ret != BOARD_SOK)
        return ret;

    if (cfg & BOARD_INIT_UART_STDIO)
        ret = Board_uartStdioInit();
    if (ret != BOARD_SOK)
        return ret;

    return ret;
}

When this function is called with Board_Init, the cfg input is equal to BOARD_INIT_UART_STDIO.

But for some reason the debugger still jumps to

static inline void CSL_SysCfgUnlockKicker (void)
{
    hSysCfg->KICK0R = 0x83E70B13;
    hSysCfg->KICK1R = 0x95A4F1E0;
    hSysCfg->CFGCHIP3 |= 0x4;

    return;
}

Which is only callable through 

Board_STATUS Board_unlockMMR(void)
{
    CSL_SysCfgUnlockKicker();

    return BOARD_SOK;
}

and Board_unlockMMR is only callable from Board_init, but it's never ACTUALLY called. 

Aka Board_init doesn't actually call Board_unlockMMR, but the code still jumps to CSL_SysCfgUnlockKicker.

However, after that, KICK0R and KICK1R register still don't change, the memory values remain at 0, so they're not unlocked or locked.

It seems that it's only the UART. I can still SSH into the Board via its IP. So the Kernel itself doesn't crash.

Yes, the DSP image is the PDK build USB Audio example, it's modified with the given to me instructions to try it make into an IPC example.

The standalone example pdk example works, but the USB is crackled (not sure why that happens.) There are other issues with this example, but I have a thread open for that.

This is the dmesg from a new ssh I opened after I loaded the firmware using the USB Serial connection. The UART USB connection crashes after it's loaded, which probably crashes the actual firmware since, but it does load as can be seen from the dmesg, it doesn't do anything though. The Kernel remains alive since I ssh into it.

[  199.172842] remoteproc remoteproc0: releasing dsp
[  201.976401] davinci-rproc davinci-rproc.0: assigned reserved memory node dsp_cma@c3000000
[  202.003207] remoteproc remoteproc0: dsp is available
[  202.168358] remoteproc remoteproc0: powering up dsp
[  202.172043] remoteproc remoteproc0: Booting fw image rproc-dsp-fw, size 5783988
[  202.260585] virtio_rpmsg_bus virtio0: rpmsg host is online
[  202.264942] remoteproc remoteproc0: registered virtio0 (type 7)
[  202.318808] remoteproc remoteproc0: remote processor dsp is now up

Hey Rex,

The dmesg is from the OMAPL-138 LCDK that is trying to start my modified PDK USB Audio example.

The remoteproc0 name yields this:

root@omapl138-lcdk:~# cat /sys/kernel/debug/remoteproc/remoteproc0/name
dsp

The remoteproc0 trace0 yields this:

3 Resource entries at 0xc3100000
[t=0x002e4459] {module#82}: {evt: 5, args=[0x0, 0x230 ...]}
Timer create failed