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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. * */ /** * \file can_profile.h.c * * \brief Main file for TI-RTOS build */ /* ========================================================================== */ /* Include Files */ /* ========================================================================== */ #include #include #include #include #include #include "CanApp_Startup.h" #include "can_profile.h" #include "CanIf.h" #if (defined (BUILD_MCU1_0) && (defined (SOC_J721E) || defined (SOC_J7200) || defined (SOC_J784S4) || defined (SOC_J721S2) || defined (SOC_J742S2))) #include #endif #include #include #include /* ========================================================================== */ /* Macros & Typedefs */ /* ========================================================================== */ /* Test application stack size */ #define APP_TASK_STACK (10U * 1024U) /**< Stack required for the stack */ #define CAN_PROFILE_DEMO_TASK_NAME ("CAN PROFILE") /**< Task name */ #define APP_TSK_STACK_MAIN (32U * 1024U) /**< Test application stack size */ #define IPC_INIT_SCISERVER_TASK_PRI (6) #define APP_SCISERVER_INIT_TSK_STACK (32U * 1024U) /* High Priority for SCI Server - must be higher than Low priority task */ #define IPC_SETUP_SCISERVER_TASK_PRI_HIGH (5) /* * Low Priority for SCI Server - must be higher than IPC echo test tasks * to prevent delay in handling Sciserver requests when test is performing * multicore ping/pong. */ #define IPC_SETUP_SCISERVER_TASK_PRI_LOW (4) /* ========================================================================== */ /* Structure Declarations */ /* ========================================================================== */ /* None */ /* ==========================================================================*/ /* Function Declarations */ /* ========================================================================== */ static void CanApp_TaskFxn(void* a0, void* a1); static void CanApp_Shutdown(void); //sint32 SetupSciServer(void); static void taskFxn(void* a0, void* a1); void CanProfile_setupSciServer(void); void ipc_initSciclient(void); void Ipc_setupSciServer(void* a0, void* a1); /* ========================================================================== */ /* Global Variables */ /* ========================================================================== */ /* application stack */ static uint8_t CanApp_TaskStack[APP_TASK_STACK] __attribute__((aligned(32))); //static uint8_t SciServer_TaskStack[APP_TASK_STACK] __attribute__((aligned(32))); static uint8_t gAppTskStackMain[APP_TSK_STACK_MAIN] __attribute__ ((aligned(8192))); static uint8_t gSciserverInitTskStack[APP_SCISERVER_INIT_TSK_STACK] __attribute__ ((aligned(8192))); /**< Stack for the task */ static canAppTaskObj_t CanApp_TestPrms; /**< Test parameters */ static HwiP_Handle CanApp_IsrHndls[CAN_MAX_CONTROLLER]; /**< Stores the ISR handles */ extern SemaphoreP_Handle CanIf_TxConfirmationSemaphore; /**< TX Confirmation semaphore, would be posted when TX completes */ extern SemaphoreP_Handle CanIf_RxConfirmationSemaphore; /**< Rx Confirmation semaphore, would be posted when TX completes */ /* ========================================================================== */ /* External Variables */ /* ========================================================================== */ extern uint32 CanIf_DrvStatus; /**< CAN IF Driver Status, defined in CanIf.c */ /* ========================================================================== */ /* Function Definitions */ /* ========================================================================== */ const Ipc_ResourceTable ti_ipc_remoteproc_ResourceTable __attribute__ ((section (".resource_table"), aligned (4096))) = { { 1U, /* we're the first version that implements this */ 2U, /* number of entries in the table */ { 0U, 0U, /* reserved, must be zero */ } }, }; int main(void) { TaskP_Handle task; TaskP_Params taskParams; //sint32 ret = CSL_PASS; /* Relocate FreeRTOS Reset Vectors from BTCM*/ void _freertosresetvectors (void); memcpy((void *)0x0, (void *)_freertosresetvectors, 0x40); OS_init(); /* Initialize the task params */ TaskP_Params_init(&taskParams); /* Set the task priority higher than the default priority (1) */ taskParams.priority = 2; taskParams.stack = gAppTskStackMain; taskParams.stacksize = sizeof (gAppTskStackMain); task = TaskP_create(taskFxn, &taskParams); if(NULL == task) { OS_stop(); } OS_start(); /* does not return */ } static void taskFxn(void* a0, void* a1) { #ifdef UART_ENABLED AppUtils_Init(); #endif /* Initialize SCI Client - It must be called before board init */ ipc_initSciclient(); TaskP_Handle sciserverInitTask; TaskP_Params sciserverInitTaskParams; /* Initialize SCI Client Server */ // ret = SetupSciServer(); // if(ret != CSL_PASS) TaskP_Params_init(&sciserverInitTaskParams); sciserverInitTaskParams.priority = IPC_INIT_SCISERVER_TASK_PRI; sciserverInitTaskParams.stack = gSciserverInitTskStack; sciserverInitTaskParams.stacksize = sizeof (gSciserverInitTskStack); sciserverInitTask = TaskP_create(Ipc_setupSciServer, &sciserverInitTaskParams); if(NULL == sciserverInitTask) { OS_stop(); } CanApp_Startup(); CanApp_PowerAndClkSrc(); /* Initialize dummy CAN IF */ CanIf_Init(NULL); TaskP_Handle task; TaskP_Params taskParams; if (CANIF_DRV_INITIALIZED == CanIf_DrvStatus) { /* Initialize the task params */ TaskP_Params_init(&taskParams); //taskParams.instance->name = CAN_PROFILE_DEMO_TASK_NAME; /* Set the task priority higher than the default priority (1) */ taskParams.priority = 2; taskParams.stack = CanApp_TaskStack; taskParams.stacksize = sizeof (CanApp_TaskStack); task = TaskP_create(&CanApp_TaskFxn, &taskParams); if(NULL == task) { OS_stop(); } //OS_start(); /* does not return */ } else { AppUtils_Printf(MSG_NORMAL, MSG_APP_NAME " Error : CAN IF not initialized !!!\n"); } //return(0); } void ipc_initSciclient(void) { int32_t ret = CSL_PASS; Sciclient_ConfigPrms_t config; /* Now reinitialize it as default parameter */ ret = Sciclient_configPrmsInit(&config); if (ret != CSL_PASS) { AppUtils_Printf(MSG_NORMAL, MSG_APP_NAME "Sciclient_configPrmsInit Failed\n"); } #if (defined (BUILD_MCU1_0) && (defined (SOC_J721E) || defined (SOC_J7200) || defined (SOC_J721S2))) if (ret == CSL_PASS) { ret = Sciclient_boardCfgParseHeader( (uint8_t *)SCISERVER_COMMON_X509_HEADER_ADDR, &config.inPmPrms, &config.inRmPrms); if (ret != CSL_PASS) { AppUtils_Printf(MSG_NORMAL, MSG_APP_NAME "Sciclient_boardCfgParseHeader Failed\n"); } } #endif //return(0); if (ret == CSL_PASS) { ret = Sciclient_init(&config); if (ret != CSL_PASS) { AppUtils_Printf(MSG_NORMAL, MSG_APP_NAME "Sciclient_init Failed\n"); } } /* DEBUG: Print PLL/Clock related info to compare before/after Linux boots */ AppUtils_Printf(MSG_NORMAL, MSG_APP_NAME "ipc_initSciclient done\n"); } void Ipc_setupSciServer(void* a0, void* a1) { Sciserver_TirtosCfgPrms_t appPrms; int32_t ret = CSL_PASS; char *version_str = NULL; char *rmpmhal_version_str = NULL; ret = Sciserver_tirtosInitPrms_Init(&appPrms); appPrms.taskPriority[SCISERVER_TASK_USER_LO] = IPC_SETUP_SCISERVER_TASK_PRI_LOW; appPrms.taskPriority[SCISERVER_TASK_USER_HI] = IPC_SETUP_SCISERVER_TASK_PRI_HIGH; if (ret == CSL_PASS) { ret = Sciserver_tirtosInit(&appPrms); } version_str = Sciserver_getVersionStr(); rmpmhal_version_str = Sciserver_getRmPmHalVersionStr(); AppUtils_Printf(MSG_NORMAL, MSG_APP_NAME "DM Built On: %s %s\n", __DATE__, __TIME__); AppUtils_Printf(MSG_NORMAL, MSG_APP_NAME "Sciserver Version: %s\n", version_str); AppUtils_Printf(MSG_NORMAL, MSG_APP_NAME "RM_PM_HAL Version: %s\n", rmpmhal_version_str); if (ret == CSL_PASS) { AppUtils_Printf(MSG_NORMAL, MSG_APP_NAME "Starting Sciserver..... PASSED\n"); } else { AppUtils_Printf(MSG_NORMAL, MSG_APP_NAME "Starting Sciserver..... FAILED\n"); } return; } static void CanApp_TaskFxn(void* a0, void* a1) { CanApp_PlatformInit(); Utils_prfInit(); Utils_prfLoadRegister (TaskP_self(), CAN_PROFILE_DEMO_TASK_NAME); CanApp_TestPrms.numTxPackets = APP_NUM_MSG_PER_ITERATION; CanApp_TestPrms.numIterations = APP_NUM_ITERATION; TaskP_yield(); CanApp_ProfileTest(&CanApp_TestPrms); while (1) { can_send_data(); //AppUtils_delay(1000); TaskP_sleep(100); } CanApp_Shutdown(); Utils_prfLoadUnRegister (TaskP_self()); Utils_prfDeInit(); return; } /** \brief Application tear down functions */ static void CanApp_Shutdown(void) { uint32 idx; for (idx = 0U; idx < CAN_MAX_CONTROLLER; idx++) { if (NULL != CanApp_IsrHndls[idx]) { if (HwiP_OK != HwiP_delete(CanApp_IsrHndls[idx])) { AppUtils_Printf(MSG_NORMAL, MSG_APP_NAME " Error!!! Could not De register" " the ISR for instance %d!!!\n", idx); break; } } } if (NULL != CanIf_TxConfirmationSemaphore) { SemaphoreP_delete(CanIf_TxConfirmationSemaphore); if (NULL != CanIf_RxConfirmationSemaphore) { SemaphoreP_delete(CanIf_RxConfirmationSemaphore); } } return; }