Original question:
Tool/software: TI-RTOS
Hi All,
I tried to build RTOS based NIMU basic example for M4 core and able to build and run over AM572x_EVM.
I just want to transfer some data from M4 core to host PC using any NDK service. Can I know which NDK service should I use to transfer data towards PC.
Am using TI RTOS SDK over Am572x_EVM. Able to ping my target board from host PC
Regards,
Geek13
HI Sahin,
Yeah I include resource table in IPU project, that I tried out with ethernet as well as for USB application on M4 core.
But am able to run my both applications using debugger, not with remoteproc.
kindly find files am using in the attachment that am using in case of USB bulk generic device mode on M4 core.
Also am attaching an log what am getting while loading my USB application on IPU2 core
/**********************Linker.cmd************************************/
/*
* Do not modify this file; it is automatically generated from the template
* linkcmd.xdt in the ti.targets.elf package and will be overwritten.
*/
/*
* put '"'s around paths because, without this, the linker
* considers '-' as minus operator, not a file name character.
*/
-l"/home/stryker/workspace_v8/USB_DevBulkM4_evmAM572x/Debug__TI/configPkg/package/cfg/usb_dra7xx_pem4.oem4"
-l"/home/stryker/workspace_v8/USB_DevBulkM4_evmAM572x/src/ipc/ipc.aem4"
-l"/home/stryker/ti/ipc_3_50_02_02/packages/ti/pm/lib/debug/ti.pm_null.aem4"
-l"/home/stryker/workspace_v8/USB_DevBulkM4_evmAM572x/src/utils/utils.aem4"
-l"/home/stryker/ti/ipc_3_50_02_02/packages/ti/deh/lib/debug/ti.deh_vayu_smp.aem4"
-l"/home/stryker/workspace_v8/USB_DevBulkM4_evmAM572x/src/sysbios/sysbios.aem4"
-l"/home/stryker/ti/pdk_am57xx_1_0_12/packages/ti/fs/fatfs/lib/m4/release/ti.fs.fatfs.aem4"
-l"/home/stryker/ti/pdk_am57xx_1_0_12/packages/ti/drv/usb/lib/am572x/m4/release/ti.drv.usb.aem4"
-l"/home/stryker/ti/pdk_am57xx_1_0_12/packages/ti/board/lib/evmAM572x/m4/release/ti.board.aem4"
-l"/home/stryker/ti/pdk_am57xx_1_0_12/packages/ti/drv/i2c/lib/m4/release/ti.drv.i2c.aem4"
-l"/home/stryker/ti/pdk_am57xx_1_0_12/packages/ti/osal/lib/tirtos/m4/release/ti.osal.aem4"
-l"/home/stryker/ti/pdk_am57xx_1_0_12/packages/ti/drv/uart/lib/m4/release/ti.drv.uart.aem4"
-l"/home/stryker/ti/pdk_am57xx_1_0_12/packages/ti/csl/lib/am572x/m4/release/ti.csl.aem4"
-l"/home/stryker/ti/bios_6_73_00_12/packages/ti/targets/arm/rtsarm/lib/ti.targets.arm.rtsarm.aem4"
-l"/home/stryker/ti/bios_6_73_00_12/packages/ti/targets/arm/rtsarm/lib/boot.aem4"
-l"/home/stryker/ti/bios_6_73_00_12/packages/ti/targets/arm/rtsarm/lib/auto_init.aem4"
--retain="*(xdc.meta)"
/* C6x Elf symbols */
--symbol_map __TI_STACK_SIZE=__STACK_SIZE
--symbol_map __TI_STACK_BASE=__stack
--symbol_map _stack=__stack
--args 0x64
-heap 0x0
-stack 0x8000
MEMORY
{
L2_ROM : org = 0x0, len = 0x4000
L2_RAM : org = 0x20000000, len = 0x10000
OCMC_RAM1 : org = 0x40300000, len = 0x80000
OCMC_RAM2 : org = 0x40400000, len = 0x100000
OCMC_RAM3 : org = 0x40500000, len = 0x100000
EXT_CODE (RWX) : org = 0x4000, len = 0x5fc000
EXT_DATA (RW) : org = 0x80000000, len = 0x600000
EXT_HEAP (RW) : org = 0x80600000, len = 0x1400000
TRACE_BUF (RW) : org = 0x9f000000, len = 0x60000
EXC_DATA (RW) : org = 0x9f060000, len = 0x10000
PM_DATA (RWX) : org = 0x9f070000, len = 0x20000
}
/*
* Linker command file contributions from all loaded packages:
*/
/* Content from xdc.services.global (null): */
/* Content from xdc (null): */
/* Content from xdc.corevers (null): */
/* Content from xdc.shelf (null): */
/* Content from xdc.services.spec (null): */
/* Content from xdc.services.intern.xsr (null): */
/* Content from xdc.services.intern.gen (null): */
/* Content from xdc.services.intern.cmd (null): */
/* Content from xdc.bld (null): */
/* Content from ti.targets (null): */
/* Content from ti.targets.arm.elf (null): */
/* Content from xdc.rov (null): */
/* Content from xdc.runtime (null): */
/* Content from ti.targets.arm.rtsarm (null): */
/* Content from ti.sysbios.interfaces (null): */
/* Content from ti.sysbios.family (null): */
/* Content from ti.sysbios.family.arm (ti/sysbios/family/arm/linkcmd.xdt): */
--retain "*(.vecs)"
/* Content from xdc.services.getset (null): */
/* Content from ti.csl (null): */
/* Content from ti.drv.uart (null): */
/* Content from ti.osal (null): */
/* Content from ti.drv.i2c (null): */
/* Content from ti.board (null): */
/* Content from ti.drv.usb (null): */
/* Content from ti.fs.fatfs (null): */
/* Content from ti.sysbios.hal.ammu (ti/sysbios/hal/ammu/linkcmd.xdt): */
ti_sysbios_hal_ammu_AMMU_mmu = 1073743872;
/* Content from xdc.runtime.knl (null): */
/* Content from ti.sdo.ipc.interfaces (null): */
/* Content from ti.sdo.ipc.family (null): */
/* Content from ti.sysbios.rts (ti/sysbios/rts/linkcmd.xdt): */
/* Content from ti.catalog (null): */
/* Content from ti.catalog.arm.cortexm4 (null): */
/* Content from ti.catalog.peripherals.hdvicp2 (null): */
/* Content from xdc.platform (null): */
/* Content from xdc.cfg (null): */
/* Content from ti.catalog.arp32 (null): */
/* Content from ti.catalog.c6000 (null): */
/* Content from ti.catalog.arm.cortexa15 (null): */
/* Content from ti.platforms.evmDRA7XX (null): */
/* Content from ti.sysbios.hal (null): */
/* Content from ti.sysbios (null): */
/* Content from ti.sysbios.knl (null): */
/* Content from ti.sysbios.family.arm.ducati (ti/sysbios/family/arm/ducati/linkcmd.xdt): */
--diag_suppress=10063
--entry_point=ti_sysbios_family_arm_ducati_Core_reset
ti_sysbios_family_arm_ducati_CTM_ctm = 0x40000400;
/* Content from ti.sysbios.family.arm.m3 (ti/sysbios/family/arm/m3/linkcmd.xdt): */
-u _c_int00
ti_sysbios_family_arm_m3_Hwi_nvic = 0xe000e000;
/* Content from ti.sysbios.timers.dmtimer (null): */
/* Content from ti.sysbios.family.shared.vayu (null): */
/* Content from ti.sysbios.gates (null): */
/* Content from ti.sysbios.heaps (null): */
/* Content from ti.deh (null): */
/* Content from ti.sysbios.hal.unicache (ti/sysbios/hal/unicache/linkcmd.xdt): */
ti_sysbios_hal_unicache_Cache_cache = 1073741824;
/* Content from ti.sdo.utils (null): */
/* Content from ti.sysbios.syncs (null): */
/* Content from ti.sysbios.family.arm.ducati.smp (null): */
/* Content from ti.sysbios.xdcruntime (null): */
/* Content from ti.pm (null): */
/* Content from ti.sysbios.utils (null): */
/* Content from ti.ipc.remoteproc (ti/ipc/remoteproc/linkcmd.xdt): */
/* Content from ti.sdo.ipc (ti/sdo/ipc/linkcmd.xdt): */
SECTIONS
{
ti_sdo_ipc_init: load > EXT_DATA, type = NOINIT
}
/* Content from ti.ipc.ipcmgr (null): */
/* Content from ti.ipc.rpmsg (null): */
/* Content from ti.ipc.family.vayu (null): */
/* Content from ti.sdo.ipc.family.vayu (null): */
/* Content from ti.sdo.ipc.notifyDrivers (null): */
/* Content from configPkg (null): */
/* Content from xdc.services.io (null): */
/* Content from ti.sdo.ipc.family.ti81xx (null): */
/*
* symbolic aliases for static instance objects
*/
xdc_runtime_Startup__EXECFXN__C = 1;
xdc_runtime_Startup__RESETFXN__C = 1;
SECTIONS
{
.text: load >> EXT_CODE
.stack: load > EXT_DATA
GROUP: load > EXT_DATA
{
.bss:
.neardata:
.rodata:
}
.binit: load > EXT_CODE
.cinit: load > EXT_CODE
.init_array: load > EXT_CODE
.const: load >> EXT_CODE
.data: load >> EXT_DATA
.fardata: load >> EXT_DATA
.switch: load >> EXT_DATA
.sysmem: load > EXT_DATA
.far: load >> EXT_DATA
.args: load > EXT_DATA align = 0x4, fill = 0 {_argsize = 0x64; }
.cio: load >> EXT_DATA
.ARM.exidx: load > EXT_DATA
.ARM.extab: load >> EXT_DATA
.tracebuf: load > TRACE_BUF
.errorbuf: load > EXC_DATA
.bootVecs: type = DSECT
.resetVecs: load > 0x400
.vecs: load > 0x400, type = DSECT
.resource_table: load > 0x3000, type = NOINIT
.ducatiBoot: load > 0x0
xdc.meta: load > EXT_CODE, type = COPY
}
Can you please check where am doing wrong by seeing above settings am using
Regards
Geek13
Hello,
I take it you are now trying to apply the same method used for the UART application for your USB application - is my understanding correct?
When you run the application via debugger, is Linux running on the A15?
You may need to disable the USB instance in the Linux device tree. Similar to what was done for UART in the guide:
There are some other careabouts that need to be taken care of for the USB application to play nicely with Linux. For example, you will need to disable board_init() in the USB application since this is handled by Linux.
Additionally, Linux expects the IPU application at a certain address so make sure this matches the location specified in the resource table and CMA carveout in the Linux dts (you can place the USB application in the same location as the UART application if you've already verified it works)
Furthermore, standalone IPU applications use addresses (0x4X000000) to peripheral registers and use following MMU settings:
When integrating IPC/RemoteProc + IPU application, IPC requires that the IPU application uses the logical address instead. This is due to the bit-banding feature of the M4 core (I've attached slides below for more explanation on this). Therefore, the L2 MMU is configured such that MMU translates 0x6X000000 access to addresss 0x4X000000. The consequence of this is that you will need to append 0x20000000 to peripheral addresses, for example:
(CSL_IPU_UART3_REGS + 0x20000000), //Base Addr = 0x48000000 + 0x20000000 = 0x68000000
https://training.ti.com/sites/default/files/docs/Running_RTOS_on_Cortex_M4_SLIDES.pdf
This is explained in the section titled "Update Linux Kernel device tree to remove UART that will be controlled by M4" in the following guide.
I'm looping in our Linux expert to take a look at this as well - there may be something additional requirement on the Linux side that I'm not aware of.
Regards,
Sahin