AM62A7: Looking for FreeRTOS examples

Hello Daniel,

I was on training last week and yesterday was on leave.

I am catching up all pending issues along with by them looking at your queries, and please give me two or three days to get back to you.

Regards,

Anil.

Hello Anil,

Thanks for answering.

Take your time- I'm here, waiting.

Regards

Hello Daniel,

Free RTOS on A53 is an experimental feature, and we don't test on the TI side.

If any user wants to implement any features on A53 Free RTOS, then users need to control everything.

So, now in the 9.2 MCU+SDK we have two examples NO RTOS I2C and hello world Free RTOS on A53.

Take the hello world Free RTOS A53 example and copy all.c, system cfg file and.h files from i2C and paste them into the hello world A53 rtos example.

Next compile and load the project . This way, you can achieve a Free RTOS I2C example on A53 core.

Daniel Shtaingus said:

According to this doc SDK 9.2.0 supports I2C controller the" RTOS A53" column is YES.

Actually, in MCU+SDk this feature is not available on A53 Free RTOS, and it is available on NO RTOS A53 . Buildsheet representation might be wrong .

Regards,

Anil.

Hello Anil,

On which domain you do supply in SDK 9.2 Free RTOS access to most of the TI interfaces? Which Domain should we work on

to be on a safe side in our development?

Hello Daniel,

Please look at the release notes in what are the peripherals and RTOS are supported on MCU R5F and DM R5F.

Mostly, RTOS and peripherals support both R5F cores. MCU R5F can be specially be used for Application development.

So, you can try to use the same MCU R5F core for your free RTSO development.

Please close this thread if you don't have any queries .

Regards,

Anil.

Hello Anil,

I am looking at Release Notes at https://software-dl.ti.com/processor-sdk-linux-rt/esd/AM62AX/09_02_00/exports/docs/devices/AM62AX/linux/Release_Specific_Release_Notes.html.

Where can I see the “what are the peripherals and RTOS are supported on MCU R5F and DM R5F”?

I'm expecting to find some kind of table similar to ​those I found inside SDK docs.

Also, I tried to burn several examples from SDK from folders called a53ss0-0_freertos.

I did manage to burn them and I saw the output on /dev/ttyUSB0. But all of them start with a message:

"Starting RTOS/Baremetal applications".

Please advice

Hello Daniel,

For DM and MCU core Applications, you need to check for MCU+SDK documentation.

Please look at the link below for what we support on DM and MCU R5F cores.

https://software-dl.ti.com/mcu-plus-sdk/esd/AM62X/09_02_00_38/exports/docs/api_guide_am62x/RELEASE_NOTES_09_02_00_PAGE.html

https://software-dl.ti.com/processor-sdk-linux/esd/AM62AX/09_02_00/exports/am62a_software_build_sheet.html

Daniel Shtaingus said:

I did manage to burn them and I saw the output on /dev/ttyUSB0. But all of them start with a message:

"Starting RTOS/Baremetal applications"

Can you please confirm you are able to run I2C on A53 Free RTOS with the my proposal above ?

If not, can you please share your i2c project ?

Regards,

Anil.

Hello Anil,

In your latest comments, you write “DM” and “DM R5F”. What are both?

Following the Release Notes, unfortunately, I am still confused and I just can’t define a list of Supported IOs and Peripherals based on it.

Following the AM62A Software Build Sheet table, can you confirm that each “NO” for any module in the table, means “it is NOT implemented in SDK 09.02” and not “it is Not Applicable”

Regarding I2C and FreeRTOS. I did manage to burn I2C read temp example on A53. But inside the SDK there are only a53ss0-0_nortos and mcu-r5fss0-0_nortos folders.

If you can run I2C read temp example in FreeRTOS, I'd appreciate it if you'll be able to share with me your *.cfg file that is used as an input to uart_uniflash.py file. 

In case you don't have one, maybe you can advise how to create one. I just want to be able to burn any examples on A53 and it should run on FreeRTOS.

Regards

Hello Anil,

Daniel Shtaingus said:

In your latest comments, you write “DM” and “DM R5F”. What are both?

DM → Device Management . It mostly does CPU resource allocations, CPU Reset, setting clock frequency for Peripherals and cores and etc.

So, these operations are done by the DM R5F core.

Daniel Shtaingus said:

Following the Release Notes, unfortunately, I am still confused and I just can’t define a list of Supported IOs and Peripherals based on it.

Please look at the image below here. The left side is peripheral and right side is whether these peripherals are supported on MCU R5F or DM R5F or A53 core or not .

https://software-dl.ti.com/mcu-plus-sdk/esd/AM62AX/09_02_00_38/exports/docs/api_guide_am62ax/RELEASE_NOTES_09_02_00_PAGE.html

Daniel Shtaingus said:

Following the AM62A Software Build Sheet table, can you confirm that each “NO” for any module in the table, means “it is NOT implemented in SDK 09.02” and not “it is Not Applicable”

Yes your undertanding is correct , examples are not aviable for each NO and NA .

Daniel Shtaingus said:

Regarding I2C and FreeRTOS. I did manage to burn I2C read temp example on A53. But inside the SDK there are only a53ss0-0_nortos and mcu-r5fss0-0_nortos folders.

If you can run I2C read temp example in FreeRTOS, I'd appreciate it if you'll be able to share with me your *.cfg file that is used as an input to uart_uniflash.py file. 

In case you don't have one, maybe you can advise how to create one. I just want to be able to burn any examples on A53 and it should run on FreeRTOS

Please follow the steps below.

Free RTOS on A53 is an experimental feature, and we don't test on the TI side.

If any user wants to implement any features on A53 Free RTOS, then users need to write everything.

So, now in the 9.2 MCU+SDK we have two examples, NO RTOS I2C and Hello World Free RTOS on A53.

Hello World Example : 

A53 NO RTOS I2C Example : 

Take the hello world Free RTOS A53 example and copy all.c, system cfg file and.h files from A53 NO RTOS I2C example and paste them into the hello world A53 rtos example.

Next compile and load the project . This way, you can achieve a Free RTOS I2C example on A53 core.

Regards,

Anil.

Hello Anil,

Thank you for your answers. Now I understand it a bit better.

I would like to compile and burn a "Hello world" FreeRTOS example with makefile command line.

Can you please provide me with the burning steps ( including the configuration file)?

I can compile it and I can burn it on A53. But when it's loaded, I can see a message:

"Starting RTOS/Baremetal applications". and then the "Hello World!".

I guess I'm doing something wrong. 

On page https://software-dl.ti.com/mcu-plus-sdk/esd/AM62AX/09_00_00_19/exports/docs/api_guide_am62ax/EXAMPLES_HELLO_WORLD.html

It says what is provided and possible, but nothing about how to do it.

That's why I'm asking your assistance with the burning process. I asked about it in my previous post, but you didn't  
 comment on this one.

Regards

Hello Anil,

I'm a bit afraid to ask you an additional question because it looks like I have a quote for 1 answer per day, but I'll take a chance anyway.

I'm looking at SoC device driver table ( you attached in your previous answer) and have some difficulty fully understanding it.

For example, I'm looking at GPIO raw.

According to the table, if I'm in the Main domain, A53 is not supported?

Can you please provide me with some explanation?

Regards

Hello Daniel,

You can ask more questions and  we are here to help you solve the your  issues.

Actually, AM62A has a multicore processor and it has A53 and R5F cores.

So, users run Linux on A53 cores and RTOS/ NO RTOS on R5F cores.

We will following two SDK's, one for Linux on A53 cores and another for MCU+SDK on R5F cores.

https://www.ti.com/tool/PROCESSOR-SDK-AM62A#downloads

In MCU+SDK we don't talk about A53 support features and, which are mostly available these details in Processor SDK documentation.

Some A53 examples are there in MCU+SDK, which are experimental.

Daniel Shtaingus said:

According to the table, if I'm in the Main domain, A53 is not supported?

Can you please provide me with some explanation?

You can configure and use MAIn Domain GPIO's on A53 core and there are no issues. As mentioned above, we don't talk most related to A53 stuff on MCU+SDK. But, you can look at the examples and see what the experimental features are available on the A53 core in MCU+SDK

See below for GPIO example is available on MCU+SDK.

For new users, if you look at the below page you will get some knowledge on how works on AM62A devices .

https://dev.ti.com/tirex/explore/node?node=A__AEIJm0rwIeU.2P1OBWwlaA__AM62A-ACADEMY__WeZ9SsL__LATEST

Can you please confirm you performed SOC initializations ?

I assume that you did not do SOC initializations.

Please go through the page below , first do the SOC initializations .

https://software-dl.ti.com/mcu-plus-sdk/esd/AM62AX/09_00_00_19/exports/docs/api_guide_am62ax/EVM_SETUP_PAGE.html

Next step, we can burn your image on SOC , for that you need to do same steps .

Refer page  below .

https://software-dl.ti.com/mcu-plus-sdk/esd/AM62AX/09_00_00_19/exports/docs/api_guide_am62ax/GETTING_STARTED_FLASH.html

If you stuck at any point please let me know .

Regards,

Anil.

Hello Anil,

Thanks for the detailed explanation.

Now I understand your documentation and explanations a bit more)

I did manage to pass the SoC initialization stage.

What I'm trying to achieve as a proof of concept - is a FreeRTOS example running on A53(a Hello World).

Can you please advise me, what should be the content of my configuration script, which is used with Python:

"python3 uart_uniflash.py -p /dev/ttyUSB0 --cfg SOME_CONFIGURATION_FILE.cfg"

Just want to see the text message from the example and be sure, that FreeRTOS is running on A53.

Regards

Hello Daniel,

Please look at the last comments in the thread which could be helpful for you.

https://e2e.ti.com/support/processors-group/processors/f/processors-forum/1353115/am6441-can-gpio-trigger-dma-to-move-data-from-nand-via-gpmc/5211606#5211606

Now, you have done SOC initializations.

Next, simply load an example file from CCS and run it.

Before that, you need to configure target configurations.

Please go through the chapter below, and it could be helpful to load an example from CCS and you need to connect to A53 core since you are interested in loading the the A53 example.

https://software-dl.ti.com/mcu-plus-sdk/esd/AM62AX/09_02_00_38/exports/docs/api_guide_am62ax/CCS_LAUNCH_PAGE.html

If you stuck at any point please let me know .

Regards,

Anil.

Hello Anil,

Thank you for the fast answer!.

I can flash the "hello world "example. 

From page software-dl.ti.com/.../GETTING_STARTED_FLASH.html

This is my sbl_prebuilt/am62ax-sk/default_sbl_ospi_nand_linux_hs_fs.cfg script

# First point to sbl_uart_uniflash_stage1 binary, which initialises DDR and receives sbl_uart_uniflash_stage2 binary
--flash-writer=sbl_prebuilt/am62ax-sk/sbl_uart_uniflash_stage1.release.hs_fs.tiimage

# When sending sbl_uart_uniflash_stage2 binary make sure to flash at SOC memory offset 0x0.
# Points to sbl_uart_uniflash_stage2 binary, which function's as a server to flash one or more
--file=../../examples/drivers/boot/sbl_uart_uniflash_multistage/sbl_uart_uniflash_stage2/am62ax-sk/r5fss0-0_nortos/ti-arm-clang/sbl_uart_uniflash_stage2.release.appimage.hs_fs --operation=flash --flash-offset=0x0

# Now send one or more files to flash or flashverify as needed. The order of sending files does not matter

# When sending bootloader make sure to flash at offset 0x0. ROM expects bootloader at offset 0x0
--file=sbl_prebuilt/am62ax-sk/sbl_ospi_nand_linux_stage1.release.hs_fs.tiimage --operation=flash --flash-offset=0x0

# 2nd stage bootloader is flashed at 0x80000 or to whatever offset your bootloader is configured for
--file=../../examples/drivers/boot/sbl_ospi_nand_linux_multistage/sbl_ospi_nand_linux_stage2/am62ax-sk/r5fss0-0_nortos/ti-arm-clang/sbl_ospi_nand_linux_stage2.release.appimage.hs_fs --operation=flash --flash-offset=0x80000

# DM image is flashed at 0xC0000 or to whatever offset your bootloader is configured for
--file=../../examples/drivers/ipc/ipc_rpmsg_echo_linux/am62ax-sk/r5fss0-0_freertos/ti-arm-clang/ipc_rpmsg_echo_linux.release.appimage.hs_fs --operation=flash --flash-offset=0xC0000

# HSM image is flashed at 0x240000 or to whatever offset your bootloader is configured for
--file=../../tools/boot/HSMAppimageGen/board/am62ax-sk/hsm.appimage.hs_fs --operation=flash --flash-offset=0x240000

# When sending application image, make sure to flash at offset 0x800000 (default) or to whatever offset your bootloader is configured for
--file=../../examples/drivers/ipc/ipc_rpmsg_echo_linux/am62ax-sk/mcu-r5fss0-0_freertos/ti-arm-clang/ipc_rpmsg_echo_linux.release.appimage.hs_fs --operation=flash --flash-offset=0x800000

# C7x image is flashed at 0xA00000 or to whatever offset your bootloader is configured for
--file=../../examples/drivers/ipc/ipc_rpmsg_echo_linux/am62ax-sk/c75ss0-0_freertos/ti-c7000/ipc_rpmsg_echo_linux.release.appimage.hs_fs --operation=flash --flash-offset=0xA00000

# Linux image is flashed at 0x1200000 or to whatever offset your bootloader is configured for
--file=../../tools/boot/linuxAppimageGen/board/am62ax-sk/linux.appimage.hs_fs --operation=flash --flash-offset=0x1200000

# u-boot.img is flashed at 0x280000
--file=../../tools/boot/linuxAppimageGen/board/am62ax-sk/u-boot.img --operation=flash --flash-offset=0x280000

I would like to burn a file "hello_world.release.appimage.hs_fs" from "examples/hello_world/am62ax-sk/a53ss0-0_freertos/gcc-aarch64/".

I guess I need to use a custom *cfg file for that task. Let's say, that I'm using default_sbl_ospi_nand_linux_hs_fs.cfg as I placed earlier.

Which lines can be removed? How the line with flashing hello_world.release.appimage.hs_fs should look like? 

Can you help me out here?

Regards

Good day,

Any news?

Hello Daniel ,

Sorry for the delayed reply as I am on other escalations.

Now, you are using default_sbl_ospi_nand_linux_hs_fs.cfg file. Using this file, we can't write the A53 app image on external memory since these cfg files are used for Linux app images .

Instead of this file, you can use the default_sbl_ospi_nand_hs_fs.cfg. In this file you can place your A53 app image with the below highlighted one. So, your application is loaded on external memory.

Regards,

Anil.

Good day Anil,

I made a small change to default_sbl_ospi_nand_hs_fs.cfg

The last A53 image I flashed from:

--file=../../examples/hello_world/am62ax-sk/a53ss0-0_freertos/gcc-aarch64/hello_world.release.appimage.hs_fs --operation=flash --flash-offset=0x1200000

Changed back the switches to OSPI NAND BOOT MODE.

The output after flash on /dev/ttyUSB0 is:

SYSFW Firmware Version 9.2.7--v09.02.07 (Kool Koala)
SYSFW Firmware revision 0x9
SYSFW ABI revision 3.1

[BOOTLOADER_PROFILE] Boot Media       : FLASH 
[BOOTLOADER_PROFILE] Boot Media Clock : 166.667 MHz 
[BOOTLOADER_PROFILE] Boot Image Size  : 173 KB 
[BOOTLOADER_PROFILE] Cores present    : 
mcu-r5f0-0
r5f0-0
[BOOTLOADER PROFILE] System_init                      :      37077us 
[BOOTLOADER PROFILE] Board_init                       :          0us 
[BOOTLOADER PROFILE] Drivers_open                     :        192us 
[BOOTLOADER PROFILE] Board_driversOpen                :      11320us 
[BOOTLOADER PROFILE] Sciclient Get Version            :      10183us 
[BOOTLOADER PROFILE] App_loadImages                   :       3086us 
[BOOTLOADER PROFILE] App_loadSelfcoreImage            :       6470us 
[BOOTLOADER_PROFILE] SBL Total Time Taken             :      68332us 

Image loading done, switching to application ...
Starting MCU-r5f and 2nd stage bootloader
[BOOTLOADER_PROFILE] Boot Media       : FLASH 
[BOOTLOADER_PROFILE] Boot Media Clock : 200.000 MHz 
[BOOTLOADER_PROFILE] Boot Image Size  : 364 KB 
[BOOTLOADER_PROFILE] Cores present    : 
hsm-m4f0-0
r5f0-0
a530-0
c75ss0
[BOOTLOADER PROFILE] System_init                      :       1806us 
[BOOTLOADER PROFILE] Board_init                       :          1us 
[BOOTLOADER PROFILE] Drivers_open                     :        223us 
[BOOTLOADER PROFILE] App_loadImages                   :       2320us 
[BOOTLOADER PROFILE] App_loadSelfcoreImage            :       9399us 
[BOOTLOADER PROFILE] App_loadA53Images                :       5246us 
[BOOTLOADER PROFILE] App_loadDSPImages                :      15158us 
[BOOTLOADER_PROFILE] SBL Total Time Taken             :      34156us 

Image loading done, switching to application ...
Starting RTOS/Baremetal applications
Hello  World 

I'm just wondering If I'm flashed application from a53ss0-0_freertos - is the result on the /dev/ttyUSB0 a FreeRTOS app running or

"Starting RTOS/Baremetal applications" message suggests that it's not FreRTOS?

Regards

Hello Daniel,

To confirm whether your flashed code is running or not , just change the print log from your example code.

Please look at your hello world example , here we are writing Hello world print and now you can change the print log as per your wish and see the same print is logged on UART console or not .This way you can confirm your code is flashed or not .

Daniel Shtaingus said:

I'm just wondering If I'm flashed application from a53ss0-0_freertos - is the result on the /dev/ttyUSB0 a FreeRTOS app running or

"Starting RTOS/Baremetal applications" message suggests that it's not FreRTOS?

The attached print shows two log information's one is Hello world is printed by your A53 core and another one is Starting RTOS/Baremetal applications\r\n printed by your SBL core R5F .

The above example seems working and you have flashed your example on external flash memory.

Regards,

Anil.

Hello Anil,

Thanks for the detailed explanation.

I do manage to change the log message and after flashing the file I can see the same message on /dev/ttyUSB0.

So basically I was confused by the message from R5F core. 

And if I'm understanding correctly, "Hello World" is a print from A53(FreeRTOS), and "Starting RTOS/Baremetal applications" is a print from R5F(NoRTOS).

Regards

Hello Daniel,

Daniel Shtaingus said:

I do manage to change the log message and after flashing the file I can see the same message on /dev/ttyUSB0.

So basically I was confused by the message from R5F core.

Sorry for the delayed reply as I was on other escalations.

If you still see your message and starting RTOS/Baremetal applications message, then that is fine.

Actually, you are using the OSPI SBL (secondary Boot loader) which runs on R5F Core and this application will try to read app image from the flash and will move the app image to DDR or MSRAM memory and will initialize the all cores . This application will print the "Starting RTOS/Baremetal applications" message.

Can you please confirm how you are compiling the project, either from ccs or make file ?

If it is make file, then you compiled app image file should be presented in the location below else if you compile the project from CCS then this path will be different.  In this case, you need to give your CCS example app image path.

Make file path :

file=../../examples/hello_world/am62ax-sk/a53ss0-0_freertos/gcc-aarch64/hello_world.release.appimage.hs_fs --operation=flash --flash-offset=0x1200000

Regards,

Anil.