Issues with DMTimer for AM335x SYS/BIOS Industrial SDK for ICE

Hey,

I`m not a expert in SYS/BIOS, but I could not find where you enable your HWI and connect it with DMTimer3.

I think it should be sth like this:

.....

 Timer = Timer_create(isr_hwi1, 1000, &timerParams, &eb);

.......

Jonathan,

generally I can't recommend to use Starterware INTC functions in combination with Sys/Bios without looking at the sources. Sys/Bios has it's own methods of treating interrupts and you shouldn't mix that without understanding the side effects. That is also why many of the (OS-agnostic) Starterware examples only have limited use for Sys/Bios projects.

Regards.

I have tried calling a SYS/BIOS API function for creating a device-specific DMTimer for the AM335x.  The issue is that if I configure any registers for DMTimer3 before calling the Timer_create() function, SYS/BIOS hangs/aborts and complains that the timer is not available. So apparently I cannot touch the DMTimer3 registers before calling Timer_create().  However, if I remove all of my register-configuration functions based on the StarterWare, SYS/BIOS gives me a data abort because it couldn't access the timer registers to create the DMTimer.  So I at least need to enable the clock for the DMTimer3 peripheral by calling DMTimer3ModuleClkConfig(), which is a StarterWare function, since SYS/BIOS is unable to configre the DMTimer3 unless the clock is already enabled that peripheral.

The issue now is that the DMTimer3 interrupt still does not appear to be enabled, since my ISR is never called, and if I check the INTC_MIR2 register (0x482000C4), I can see that the DMTimer3 interrupt (int num 69) is masked/disabled at the system/INTC level, while the DMTimer2 interrupt (int num 68) is unmasked/enabled: the value of the INTC_MIR2 register is 0xFFFFFFEF.  If DMTimer3 was also enabled, it would be 0xFFFFFFCF.  So SYS/BIOS is somehow not enabling the DMTimer3 interrupt for the INTC, even though I am calling the SYS/BIOS API functions for creating DMTimer3.

Now my code in main() looks like this:

Void main()

{

DISABLE_ESC_INT()

// just to make sure we can't get early Ecat IRQs...

Task_Params taskParams;

Task_Params_init(&taskParams);

taskParams.

priority = 4;

tsk1 = Task_create (task1, &taskParams, NULL);

mmuInit();

// needed first

SetBoardType(AM335X_BOARD_TYPE_ICE );

//AM335X_BOARD_TYPE_ICE : AM335X_BOARD_TYPE_IDK

led_init();

PINMUX_Config();

timer2Init();

boardType = GetBoardType();

if(AM335X_BOARD_TYPE_IDK == boardType)

PowerPWM();

ICSS_Init();

PRUSSPinMux_Config(0x01);

// PRUSS pinmuxing

spiInit();

// C2000 communication for motor current reads

//---------------------!!! my code begins here !!!-----------------------------

/* This function will enable clocks for the DMTimer3 instance */

DMTimer3ModuleClkConfig();

/* Removed other StarterWare DMTimer3 configuration functions */

// Create DMTimer3 with SYS/BIOS API calls

Timer_Handle ADC_Timer;

Timer_Params ADC_Timer_Params;

Error_Block eb;

Error_init(&eb);

Timer_Params_init(&ADC_Timer_Params);

ADC_Timer_Params.

period = 500;

ADC_Timer_Params.

periodType = Timer_PeriodType_MICROSECS;

ADC_Timer_Params.

arg = 0;

ADC_Timer_Params.

startMode = Timer_StartMode_USER;

ADC_Timer = Timer_create(1, ADC_Timer_ISR, &ADC_Timer_Params, &eb);

if ((ADC_Timer == NULL) || (Error_check(&eb))) {

System_abort(

"Timer create failed");

}

//----------------------------------------!!! my code ends here !!!-------------------------------------------------------

if( AM335X_BOARD_TYPE_ICE == boardType )

{

uartInstance = 5;

}

else if(AM335X_BOARD_TYPE_IDK == boardType)

{

uartInstance = 3;

}

UartOpen(uartInstance,NULL);

UARTPutString(uartInstance,"TI EtherCAT Demo Application Build - ");

UARTPutString(uartInstance,APPL_BUILD_VER);

//Disable PRUs - This is to ensure PRUs are not running when application is not initialized

PRUSSDRVPruDisable(0);

PRUSSDRVPruDisable(1);

BIOS_start();

}

Do you call

Timer_start(tADC_Timer);

everywhere? I have had the same problem,  but this was a problem of the configuration. You should ask this in the SYS/BIOS forum. If you use a clock instead of a timer it should work.

Hi,

I could use DMTimer3 in my application. Here's the code snippet that you can compare with your configuration and see if it works for you too.

void timer_init(void)
{

Hwi_Params hwiParams;

/* This function will enable clocks for the DMTimer3 instance */
DMTimer3ModuleClkConfig();

Hwi_Params_init(&hwiParams);
hwiParams.arg = SYS_INT_TINT3;
hwiParams.priority = 0;
Hwi_create(SYS_INT_TINT3,(Hwi_FuncPtr)timer_isr, &hwiParams, NULL);

/* Load the counter with the initial count value */
DMTimerCounterSet(SOC_DMTIMER_3_REGS, TIMER_INITIAL_COUNT);

/* Load the load register with the reload count value */
DMTimerReloadSet(SOC_DMTIMER_3_REGS, TIMER_RLD_COUNT);

/* Configure the DMTimer for Auto-reload and compare mode */
DMTimerModeConfigure(SOC_DMTIMER_3_REGS, DMTIMER_AUTORLD_NOCMP_ENABLE);

Hwi_enableInterrupt(SYS_INT_TINT3);

DMTimerIntEnable(SOC_DMTIMER_3_REGS, DMTIMER_INT_OVF_EN_FLAG);
DMTimerEnable(SOC_DMTIMER_3_REGS);

}

Regards,

Amit

Hi Amit,

this does not work in my code. I got an exception and the system is aborted.Your timer is not configured in compare mode like described in the comment.

I dont know what is going wrong, but why do you use a hwi and not a timer?

Thanks.

Hi Michael,

What exception did you get and from where? Is it when you try to access DMTimer3 register (SOC_DMTIMER_3_REGS), if yes, then you might have to add this entry in mmuInit() function in sys_mmu.c driver and rebuild the sys_bios_driver.lib

Yeah, it is actually configured for no-compare mode. 

I am creating hardware interrupt for timer and associating a timer_isr with it.

I was actually able use the DMTimer3 for getting timer tick of 1ms, so it gives interrupt every 1ms.

Regards,

Amit

The Console output is this:

[CortxA8] in handle: 0x0.
Main stack base: 0x800148e0.
Main stack size: 0x2000.
R0 = 0x800108b8  R8  = 0xffffffff
R1 = 0x44e00000  R9  = 0xffffffff
R2 = 0x00000002  R10 = 0xffffffff
R3 = 0x80016824  R11 = 0xffffffff
R4 = 0x00000001  R12 = 0x800148d4
R5 = 0x8002326c [CortxA8]  SP(R13) = 0x80016880
R6 = 0x2000011f  LR(R14) = 0x800032e8
R7 = 0xffffffff  PC(R15) = 0x80001fb2
PSR = 0x2000019f
ti.sysbios.family.arm.exc.Exception: line 174: E_dataAbort: pc = 0x80001fb2, lr = 0x800[CortxA8] 032e8.
xdc.runtime.Error.raise: terminating execution

in sys_mmu.c is a line

Mmu_setFirstLevelDesc((Ptr)0x48000000, (Ptr)0x48000000 , &attrs);  // Timer

must I add 

Mmu_setFirstLevelDesc((Ptr)0x48042000, (Ptr)0x48042000, &attrs); 

for DMTimer 3?

Can you put a break point in the beginning of this timer_init function and do single stepping to see if it is throwing exception on any of timer related function calls? Or else, you can add these PC, SP and LR values in the core register PC, SP and LR values resp. It should give you the call stack and the point of failure.

If we know what is causing this exception then we can handle it.

Michael Rinker said:

must I add 

Mmu_setFirstLevelDesc((Ptr)0x48042000, (Ptr)0x48042000, &attrs); 

No, the first level MMU pages are 1 MB in size and L4 range includes the DM3Timer regs. But is this block enabled (clocked)? Check this using Memory view. If you can access the regs manually then it is fine and you have another issue. Then check the code what it is doing at that point.

Regards.

Ok. Thank you, I have forgotten to call mmuInit(). Now the isr is working. How could I configure the 1ms? with the reload values?

I think if DMTimer3 is getting clock from CLK_M_OSC = 24MHz  and no prescaler is set (default staterware setting) then you have to give count and reload count as (0xFFFFFFFF- 24000) because it is an upcounter.

You can check this and see if it gives you 1ms tick.

Ok. I will check and try it. With DMTimer2 it should be even able to do this.