RTOS/TMDSICE3359: Project build issue with ARM toolset

Thomas Dorsch

Part Number: TMDSICE3359
Other Parts Discussed in Thread: SYSBIOS, AM3359

Tool/software: TI-RTOS

Hello everyone,

I am a beginner with TI CCS and started to dive into RTOS-World with the TMDSICE3359 V2 device.

My problem is to build a simple project which uses GPIO driver with usage of the TI toolset (ARM Compiler, ARM Linker). However, the same SysBios.cfg works with a project which uses gnu toolset (GNU Compiler, GNU Linker).

I will describe my environemnt, the steps I have done, the SysBios configuration and the build output of both projects. Additionally I have some questions.

I worked through

processors.wiki.ti.com/.../Processor_SDK_RTOS_Software_Developer_Guide

1. Environment

I set up my environment with CCS 7.4, pdk_am335x_1_0_10, xdctools_3_50_04_43_core. I rebuilt the PDK sucessfully.

All the PDK example projects, which are loacted under /home/thomas/ti/pdk_am335x_1_0_10/packages/MyExampleProjects build an run fine!

All the CCS-Project templates works fine (with TI-Compiler or GNU-Compiler used).

That said, I wanted to understand how SysBios works and how it needs to get configurated in a correct way. I can't find much details about this on the TI website and wikis.

2. Steps

My plan was to start with a SYS/BIOS-Typical project template, and add minimal configurations to be able to interface the GPIOs on the board.

2.1 Created Project Template (New CCS Project, Compiler Version: TI v16.9.6.LTS, Target: ICE_AM3359). Building at this stage was successfull.

I investigated some threads here in the forum, and found out that I probably need the "OSAL-Layer", the "CSL-Layer" and maybe the UART and I2C package to use and initialize the GPIO drivers.

2.2 Change to app.cfg

So my complete app.cfg looks like this:

var Defaults = xdc.useModule('xdc.runtime.Defaults');
var Diags = xdc.useModule('xdc.runtime.Diags');
var Error = xdc.useModule('xdc.runtime.Error');
var Log = xdc.useModule('xdc.runtime.Log');
var LoggerBuf = xdc.useModule('xdc.runtime.LoggerBuf');
var Main = xdc.useModule('xdc.runtime.Main');
var Memory = xdc.useModule('xdc.runtime.Memory')
var SysMin = xdc.useModule('xdc.runtime.SysMin');
var System = xdc.useModule('xdc.runtime.System');
var Text = xdc.useModule('xdc.runtime.Text');

var BIOS = xdc.useModule('ti.sysbios.BIOS');
var Clock = xdc.useModule('ti.sysbios.knl.Clock');
var Swi = xdc.useModule('ti.sysbios.knl.Swi');
var Task = xdc.useModule('ti.sysbios.knl.Task');
var Semaphore = xdc.useModule('ti.sysbios.knl.Semaphore');
var Hwi = xdc.useModule('ti.sysbios.hal.Hwi');

/*
 * Uncomment this line to globally disable Asserts.
 * All modules inherit the default from the 'Defaults' module.  You
 * can override these defaults on a per-module basis using Module.common$. 
 * Disabling Asserts will save code space and improve runtime performance.
Defaults.common$.diags_ASSERT = Diags.ALWAYS_OFF;
 */

/*
 * Uncomment this line to keep module names from being loaded on the target.
 * The module name strings are placed in the .const section. Setting this
 * parameter to false will save space in the .const section.  Error and
 * Assert messages will contain an "unknown module" prefix instead
 * of the actual module name.
Defaults.common$.namedModule = false;
 */

/*
 * Minimize exit handler array in System.  The System module includes
 * an array of functions that are registered with System_atexit() to be
 * called by System_exit().
 */
System.maxAtexitHandlers = 4;       

/* 
 * Uncomment this line to disable the Error print function.  
 * We lose error information when this is disabled since the errors are
 * not printed.  Disabling the raiseHook will save some code space if
 * your app is not using System_printf() since the Error_print() function
 * calls System_printf().
Error.raiseHook = null;
 */

/* 
 * Uncomment this line to keep Error, Assert, and Log strings from being
 * loaded on the target.  These strings are placed in the .const section.
 * Setting this parameter to false will save space in the .const section.
 * Error, Assert and Log message will print raw ids and args instead of
 * a formatted message.
Text.isLoaded = false;
 */

/*
 * Uncomment this line to disable the output of characters by SysMin
 * when the program exits.  SysMin writes characters to a circular buffer.
 * This buffer can be viewed using the SysMin Output view in ROV.
SysMin.flushAtExit = false;
 */

/*
 * The BIOS module will create the default heap for the system.
 * Specify the size of this default heap.
 */
BIOS.heapSize = 0x1000;

/*
 * Build a custom SYS/BIOS library from sources.
 */
BIOS.libType = BIOS.LibType_Custom;

/* System stack size (used by ISRs and Swis) */
Program.stack = 0x2000;

/* Circular buffer size for System_printf() */
SysMin.bufSize = 0x200;

/* 
 * Create and install logger for the whole system
 */
var loggerBufParams = new LoggerBuf.Params();
loggerBufParams.numEntries = 16;
var logger0 = LoggerBuf.create(loggerBufParams);
Defaults.common$.logger = logger0;
Main.common$.diags_INFO = Diags.ALWAYS_ON;

System.SupportProxy = SysMin;

/* ================ Driver configuration ================ */

/* Load the OSAL package */
var osType = "tirtos"
var Osal = xdc.useModule('ti.osal.Settings');
Osal.osType = osType;

/*use CSL package*/
var socType           = "am335x";
var Csl = xdc.loadPackage('ti.csl');
Csl.Settings.deviceType = socType;

/* Load the uart package */
var UartPackage = xdc.loadPackage('ti.drv.uart');
UartPackage.Settings.socType = socType;

/* Load the I2C package */
var I2c = xdc.loadPackage('ti.drv.i2c');
I2c.Settings.socType = socType;

/* Load the board package */
var Board = xdc.loadPackage('ti.board');
Board.Settings.boardName = "icev2AM335x";

/* Load Profiling package */
var Utils = xdc.loadPackage('ti.utils.profiling');

/* Load the gpio package */
var GpioPackage = xdc.loadPackage('ti.drv.gpio');
GpioPackage.Settings.enableProfiling = true;

2.3 Build does fail with this output

**** Clean-only build of configuration Debug for project OwnSysBios_TICompiler ****

/home/thomas/ti/ccsv7/utils/bin/gmake -j 8 clean -O 
 
cleaning ../src/sysbios ...
rm -rf  "OwnSysBios_TICompiler.hex"  "configPkg/linker.cmd" "configPkg/compiler.opt"  "OwnSysBios_TICompiler.out" 
rm -rf  "configPkg/" 
rm -rf "main.obj" 
rm -rf "main.d" 
Finished clean
 

**** Build Finished ****

**** Build of configuration Debug for project OwnSysBios_TICompiler ****

/home/thomas/ti/ccsv7/utils/bin/gmake -j 8 all -O 
 
Building file: "../app.cfg"
Invoking: XDCtools
"/home/thomas/ti/xdctools_3_50_04_43_core/xs" --xdcpath="/home/thomas/ti/bios_6_52_00_12/packages;/home/thomas/ti/pdk_am335x_1_0_10/packages;/home/thomas/ti/uia_2_21_02_07/packages;/home/thomas/ti/ccsv7/ccs_base;" xdc.tools.configuro -o configPkg -t ti.targets.arm.elf.A8Fnv -p ti.platforms.evmAM3359 -r release -c "/home/thomas/ti/ccsv7/tools/compiler/ti-cgt-arm_16.9.6.LTS" --compileOptions "-g --optimize_with_debug" "../app.cfg"
making package.mak (because of package.bld) ...
generating interfaces for package configPkg (because package/package.xdc.inc is older than package.xdc) ...
configuring app.xea8fnv from package/cfg/app_pea8fnv.cfg ...
generating custom ti.sysbios library makefile ... 
subdir_rules.mk:10: recipe for target 'build-1140064849-inproc' failed
js: "/home/thomas/ti/pdk_am335x_1_0_10/packages/ti/drv/gpio/package.xs", line 115: Error: 	Library not found: /home/thomas/ti/pdk_am335x_1_0_10/packages/ti/drv/gpio/./lib/a8/release/ti.drv.gpio.profiling.aea8fnv
gmake: *** [package/cfg/app_pea8fnv.xdl] Error 1
gmake: *** Deleting file `package/cfg/app_pea8fnv.xdl'
gmake: *** [package/cfg/app_pea8fnv.xdl] Deleting file `package/cfg/app_pea8fnv.h'
gmake: *** [package/cfg/app_pea8fnv.xdl] Deleting file `package/cfg/app_pea8fnv.c'
js: "/home/thomas/ti/xdctools_3_50_04_43_core/packages/xdc/tools/Cmdr.xs", line 52: Error: xdc.tools.configuro: configuration failed due to earlier errors (status = 2); 'linker.cmd' deleted.
gmake[1]: *** [build-1140064849-inproc] Error 1
gmake: *** No rule to make target 'build-1140064849', needed by 'configPkg/compiler.opt'.  Stop.

**** Build Finished ****

The problem here is this line: "js: "/home/thomas/ti/pdk_am335x_1_0_10/packages/ti/drv/gpio/package.xs", line 115: Error: Library not found: /home/thomas/ti/pdk_am335x_1_0_10/packages/ti/drv/gpio/./lib/a8/release/ti.drv.gpio.profiling.aea8fnv"

This path does not exist, because of the dot (.) in the path. I investigated why the dot occures there: Within the file "pdk_am335x_1_0_10/packages/ti/drv/gpio/package.xs", the lib path gets modified to ./lib, when the env LIBDIR is not defined:

/* Read LIBDIR variable */
    var lib = java.lang.System.getenv("LIBDIR");

    /* If NULL, default to "lib" folder */
    if (lib == null)
    {
        lib = "./lib";
    } else {
        print ("\tSystem environment LIBDIR variable defined : " + lib);
    }

I triple checked all the DEFINES and build configurations, between this project and the other PDK-example project which uses GPIO but couldn't make it working.

I also followed the steps of the toolset and glanced into the makefiles to understand why LIBDIR was not set in my case. I gave up since it was to complex to me as a beginner.

With some luck, I tried the same steps with a new CCS-Project template with GNU as toolset. I applied the exact same app.cfg and the build worked!

4. Questions

Now I have a few questions:

4.1 Why does my example not work with TI toolset, but with the GNU ones? I this suppose to be, or a bug?

4.2 Why do I not see the print commands within the .xs-files during the build process? How can I enable this? I already checked but could not find the answer.

4.3 What is the difference, between TI toolset and the GNU toolset? Which should I use for best stability?

4.4 What is really the minimal configuration to interface GPIO via SysBios? Do I really need UART for this?

4.5 Is there any description, how the build process of SysBios/Drivers/OSAL/CSL works under the hood? My understanding so far (for GPIO as example):

"pdk/packages/ti/drv/gpio/gpio.h" describe a common interface for GPIO functionality, with no dependency on a specific hardware.

The build process picks up the SysBios-configuration and reads the values for the target board and processor, and configures the linker in a way, that it links with the correct hardware implementation.

Is that more or less correct?

Many thanks in advance!

over 8 years ago

0 Biser Gatchev-XID over 8 years ago

TI__Guru**** 393215 points

The RTOS team have been notified. They will respond here.

0 Lalindra Jayatilleke over 8 years ago

TI__Mastermind 30365 points

Thomas,

All valid questions.
To start with a few of them, there's an extensive TI-RTOS training module at training.ti.com/ti-rtos-workshop-series
I also recommend using the rtos template located at C:\ti\processor_sdk_rtos_am335x_4_03_00_05\demos\rtos_template_app to build your application. This may resolve some of the questions you have on OSAL, etc.

Also, you will want to watch the application development training that's in the TI training portal at training.ti.com/application-development-using-processor-sdk-rtos

This module will hopefully give you insight into how to properly build your application while keeping the various system pieces in mind.

Lali

0 Thomas Dorsch over 8 years ago in reply to Lalindra Jayatilleke

Expert 2611 points

Hello Lali,

thank you very much for your answer.

The linked TI-RTOS training module explain in a nice way various features about TI-RTOS and how to use it.

Indeed, the example C:\ti\processor_sdk_rtos_am335x_4_03_00_05\demos\rtos_template_app demonstrate a good starting point.

However it does not answer all my questions. Some are left:

1. Why does my example in the first post not work with TI toolset, but with the GNU ones? I this suppose to be, or a bug?

2. Why do I not see the print commands within the .xs-files during the build process? How can I enable this?

3. What is the difference, between TI toolset and the GNU toolset? Which should I use for best stability?

Regards and many thanks in advance,

Thomas

0 Lalindra Jayatilleke over 8 years ago in reply to Thomas Dorsch

TI__Mastermind 30365 points

Thomas,

Please see the last post of e2e.ti.com/.../2497160
"TI only supports Linaro GCC compiler for all ARM architectures like Cortex A8, A9 and A15. TI ARM compiler is only used for M3, M4, ARM9, cores in the devices that we offer in the TI Processor family"

Lali

0 Thomas Dorsch over 8 years ago in reply to Lalindra Jayatilleke

Expert 2611 points

Lali,

thank you for pointing that out. I didn't read that kind of information anywhere else.

I think my questions are resolved, beside of

2. Why do I not see the print commands within the .xs-files during the build process? How can I enable this?

However, this is not so important to me, so I set this topic to resolved.

Thanks for your help!

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RTOS/TMDSICE3359: Project build issue with ARM toolset

1. Environment

2. Steps

4. Questions