AM62A-PET-CALC: How to build and Test the CAN Example Code

Hi,

Undali Muniranga said:

1) How to build the Example code( already we have builded and generated .out file from CCS tool)

You can build the example code using CCS as you have already done, or you can use the makefiles to build the example. The SDK documentation describes steps for these:

https://software-dl.ti.com/mcu-plus-sdk/esd/AM62AX/11_01_00_16/exports/docs/api_guide_am62ax/CCS_PROJECTS_PAGE.html 

https://software-dl.ti.com/mcu-plus-sdk/esd/AM62AX/11_01_00_16/exports/docs/api_guide_am62ax/MAKEFILE_BUILD_PAGE.html 

Undali Muniranga said:

2) How to flash and how to verify the example code.

Please refer to this: https://software-dl.ti.com/mcu-plus-sdk/esd/AM62AX/11_01_00_16/exports/docs/api_guide_am62ax/GETTING_STARTED_FLASH.html 

If you just want to load the MCU R5 application via CCS just for debugging purpose then you can use SBL NULL for this: https://software-dl.ti.com/mcu-plus-sdk/esd/AM62AX/11_01_00_16/exports/docs/api_guide_am62ax/CCS_LAUNCH_PAGE.html

Please note that for DM R5 you can't load the application directly via CCS, It must be flashed to a boot media.

Undali Muniranga said:

JTag is mandatory for debugging purpose?

For Debugging using CCS JTAG is required.

Undali Muniranga said:

Later on we have to implement CAN Communication, how and where we can implement? kindly provide with examnple?

We have few examples in the SDK for this which you can use to get started: 

https://software-dl.ti.com/mcu-plus-sdk/esd/AM62AX/11_01_00_16/exports/docs/api_guide_am62ax/EXAMPLES_DRIVERS_MCAN_LOOPBACK_INTERRUPT.html 

If you want to port it for external communication then this FAQ can be helpful:  [FAQ] SK-AM62X/SK-AM62A-LP: Testing MCAN External Loopback example using external transceiver TCAN1042D  

Please let me know If you want help with implementing some specific use case with MCAN.

Undali Muniranga said:

Currntly we are working on AM62A EVM board and using SDK version 9.2 on R5 core side(mcu_plus_sdk_am62ax_09_02_00_38)

I see that you are currently using 9.2 SDK version, We strongly recommend upgrading to the latest SDK version (11.1 currntly) to take advantage of new features, bug fixes, and continued support.

Best Regards,

Meet.

Hello Meet Thakar 

Thak You for your reply!

I have followed the below steps for checking the Example CAN code initially.

1) I have imported the MCAN loopback for polling code in CCS and UART is configured and find the following settings for the same.

2) Please find MCAN settings as shown below

With the above changes and I have build the Code and generated successfully.

3) Copied the .out file as shown below after build into SD card /root/lib/firmware/am62a-mcu-r5f0_0-fw

4) Later I have inserted the SD into board and i am not able to observe nothing from UART log. At least this log should be print in terminal right

So i am not getting anything from the UART window.

Kindly requesting to check and please let me know!

Your support and cooperation is highly appreciated!!

Thanks & Regards

Undali Muniranga

Undali Muniranga said:

3) Copied the .out file as shown below after build into SD card /root/lib/firmware/am62a-mcu-r5f0_0-fw

This needs to be copied to this path: /lib/firmware/pdk-ipc/am62a-mcu-r5f0_0-fw

Please refer to this:https://software-dl.ti.com/processor-sdk-linux/esd/AM62AX/11_01_07_05/exports/docs/linux/Foundational_Components_IPC62ax.html#getting-started-with-ipc-linux-examples 

Hello  Meet Thakar 

Thank you for the reply!

Point1: I have build the Example code for MCAN PollingFreeRTOS and copied the .out file into SD card and inserted SD card into Board. I am able to observe some of the things here.

-> MCU R-core is remoteproc1

->When we run echo start > /sys/class/remoteproc/remoteproc1/state => looks like Boot failed

->When we run cat /sys/class/remoteproc/remoteproc1/state ==>Failed

Please find the log as shown below

kindly guide if it is booting issue how to resolve that issue?

Point2: I have build the Example code for IPC ipc_rpmsg_echo_linux_am62ax-sk_mcu-r5fss0-0_freertos and copied the .out file itno SD card and inserted SD card into Board.

Here i am able to see the UART log.

-> MCU R-core is remoteproc1

->When we run cat /sys/class/remoteproc/remoteproc1/state ==>running

Please find the log as shown below and here i am able to See the UART log on MCU R-core side.

Kindly requesting to check and please let me know to proceed further!

 Point3:  Meet Thakar mentioned

This needs to be copied to this path: /lib/firmware/pdk-ipc/am62a-mcu-r5f0_0-fw---> This path itself is not present in SD root file system and am62a-mcu-r5f0_0-fw present in /lib/firmware itself. As per IPC Example mentioned in point:2 i have copied the .out file into /root/lib/firmware/am62a-mcu-r5f0_0-fw only its communicating as shown above point2. As per the above mentioned IPC example A-core is successfully booted the R-core and we are able to see the UART log. That means our .out file copied in right path right?

If we are able to see the UART log and receiving data from A core means MCU R5 is successfully booted right?

Point4: As per our analysis and as per IPC example output, A-core is booting MCU R5-core right?

Kindly requesting to check point 1 &2 and please let me know how to proceed further!

Your cooperation and support is highly appreciated!

Thanks & Regards

Undali Muniranga

Hi,

Apologies for any confusion caused by my previous response.

This MCAN application from MCU+SDK can't be booted by linux as it is, you need to add the resource table for this for linux to communicate with the remote core, you can just add Linux IPC to your MCAN project to generate this resource table: https://dev.ti.com/tirex/explore/content/am62ax_academy_11_01_00_00/_build_am62ax_academy_11_01_00_00/source/multicore/app-development/develop-for-linux-load/add-linux-ipc.html 

You might also need to update the linker file to allocate the memory for resource table:https://dev.ti.com/tirex/explore/content/am62ax_academy_11_01_00_00/_build_am62ax_academy_11_01_00_00/source/multicore/app-development/develop-for-linux-load/update-linker.html 

Best Regards,

Meet.

Hello Meet Thakar ,

Thank your reply and confirmation regarding A53 is booting R5 core for IPC.

I have followed steps mentioned by you as shown below:

1)I have did the configuration for IPC in MCAN Loopback polling FreeRTOS example in CCS tool as shown below

2) As per mentioned  in your link i have updated the linker command as shown below

3) After configuring and updating the linker file, while building i ma getting the below mentioned error

Kindly requesting to check and please let me know how to proceed further to bring up the CAN communication.

Your support and guidance is highly appreciated!

Thanks & Regards

Undali Muniranga

Hi,

Can you use the following patch on linker.cmd and check if it works:

diff --git a/examples/drivers/mcan/mcan_loopback_polling/am62ax-sk/mcu-r5fss0-0_nortos/ti-arm-clang/linker.cmd b/examples/drivers/mcan/mcan_loop
back_polling/am62ax-sk/mcu-r5fss0-0_nortos/ti-arm-clang/linker.cmd
index cbf2fe4b..41ba61a4 100644
--- a/examples/drivers/mcan/mcan_loopback_polling/am62ax-sk/mcu-r5fss0-0_nortos/ti-arm-clang/linker.cmd
+++ b/examples/drivers/mcan/mcan_loopback_polling/am62ax-sk/mcu-r5fss0-0_nortos/ti-arm-clang/linker.cmd
@@ -55,6 +55,15 @@ SECTIONS
         .rodata: {} palign(8)   /* This is where const's go */
     } > MSRAM
 
+    /* this is used only when IPC RPMessage is enabled, else this is not used */
+    .bss.ipc_vring_mem   (NOLOAD) : {} > DDR_IPC_VRING_RTOS
+    GROUP {
+        /* This is the resource table used by linux to know where the IPC "VRINGs" are located */
+        .resource_table: {} palign(1024)
+    } > DDR_IPC_RESOURCE_TABLE_LINUX
+    /* This IPC log can be viewed via ROV in CCS and when linux is enabled, this log can also be viewed via linux debugfs */
+    .bss.debug_mem_trace_buf    : {} palign(128)    > DDR_IPC_TRACE_LINUX
+
     /* This is rest of initialized data. This can be placed in DDR if DDR is available and needed */
     GROUP {
         .data:   {} palign(8)   /* This is where initialized globals and static go */
@@ -105,4 +114,13 @@ MEMORY
 
     MSRAM     : ORIGIN = 0x79100000 , LENGTH = 0x80000
 
+    DDR_IPC_RESOURCE_TABLE_LINUX     : ORIGIN = 0x9B900000 LENGTH = 0x400      /* For resource table   */
+    DDR_CODE_DATA                    : ORIGIN = 0x9BA00000 LENGTH = 0xE00000   /* For code and data    */
+    DDR_IPC_TRACE_LINUX              : ORIGIN = 0x9B900400 LENGTH = 0xFFC00    /* IPC trace buffer     */
+     /*
+     3MB from address 0XA0000000 is used by RTOS IPC on Vision apps.
+     As the C7x binary is taken from vision apps, C7x will be writing to this memory.
+     So, for MCU+SDK we are using memory which is not used by Vision apps RTOS IPC.
+     */
+    DDR_IPC_VRING_RTOS               : ORIGIN = 0xA0400000, LENGTH = 0x300000   /* IPC VRING for RTOS/NoRTOS */
 }

Hello Meet Thakar ,

Thank You for your reply!

I have modified the linker.cmd file and the UART is working fine and log as shown below:

Hi Undali,

The assigned expert is out of office today. Please expect delay in response. Thanks for your co-operation.

Regards,

Tushar