AM3357: Importing DCAN from Starterware

Hi,

I am not sure what you intended to do. It seems that you want to create a CCS project with Processor SDK RTOS, meanwhile, you want some legacy DAL library inside the project.

Note there is no DCAN driver example in Processor SDK RTOS. But there is a CCS project called DCAN_LoopbackExample_evmAM335x_armTestProject under pdk_am335x_1_0_15\packages\ti\starterware\examples\dcan\loopback\rtos. You should be able to create the CCS project using pdkprojectcreate script and see what inside the am335x_app_dcan_evmam335x.cfg file. Then build it and test out.

Regards, Eric 

Hello Eric,

I've maintaining already existed project that using PSDK (mostly for using industry protocols). Industry protocols was implemented by strongly basing on PRU-ICSS examples that are available on TI site. Used code from TI site is based on CSL drivers. Now we need to run this project with our legacy code for CAN communication that is based on Starterware.

When I add:

/* Load the Dal package */
var SDal = xdc.loadPackage('ti.starterware.dal');
SDal.Settings.socType = devType;
SDal.Settings.libProfile = "debug";

to config file than I've got a lot of multiple definition error.

My question is: Is there a option to coexist CSL and Starterware in PSDK based project? Of course without modification PSDK but only config file, etc.

Whole config file:

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 SysStd = xdc.useModule('xdc.runtime.SysStd');
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 Program = xdc.useModule("xdc.cfg.Program");

var Hwi = xdc.useModule('ti.sysbios.hal.Hwi');
var Mailbox = xdc.useModule('ti.sysbios.knl.Mailbox');

var Global = xdc.useModule('ti.ndk.config.Global');
var Ip = xdc.useModule('ti.ndk.config.Ip');
var Udp = xdc.useModule('ti.ndk.config.Udp');
var Tcp = xdc.useModule('ti.ndk.config.Tcp');
var Load = xdc.useModule('ti.sysbios.utils.Load');

var HeapMem = xdc.useModule('ti.sysbios.heaps.HeapMem');
//var Timestamp = xdc.useModule('xdc.runtime.Timestamp');  //Enable if Timestamp_get32 is used in application
//var GateAll = xdc.useModule('ti.sysbios.gates.GateAll');

/*Program.sectMap[".cio"] = new Program.SectionSpec();
Program.sectMap[".cio"].loadSegment = "EXT_RAM";*/

var Edma            = xdc.loadPackage ("ti.sdo.edma3.drv.sample");
var drv             = xdc.loadPackage ("ti.sdo.edma3.drv");
var rm              = xdc.loadPackage ("ti.sdo.edma3.rm");

var Cache  = xdc.useModule('ti.sysbios.family.arm.a8.Cache');

var Mmu = xdc.useModule('ti.sysbios.family.arm.a8.Mmu');
Mmu.enableMMU = true;

/* Enable the cache                                                           */
Cache.enableCache = true;

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

var Uart         = xdc.loadPackage('ti.drv.uart');
var I2c          = xdc.loadPackage('ti.drv.i2c');
var Pruss        = xdc.loadPackage('ti.drv.pruss');
var Gpio         = xdc.loadPackage('ti.drv.gpio');

var socType           = "am335x";
var devType           = "ourBoard";

var Csl       = xdc.loadPackage('ti.csl');
Csl.Settings.deviceType  = socType;


/* Load the Dal package */
var SDal            = xdc.loadPackage('ti.starterware.dal');
SDal.Settings.socType = devType;
SDal.Settings.libProfile = "debug";

var Icss_Emac     = xdc.loadPackage('ti.drv.icss_emac');
var Nimu_Icss     = xdc.loadPackage('ti.transport.ndk.nimu_icss');

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

/* Load the board package */
var Board = xdc.loadPackage('ti.board');
Board.Settings.boardName = "cmpc30AM335x";

/*
 * Program.argSize sets the size of the .args section.
 * The examples dont use command line args so argSize is set to 0.
 */
Program.argSize = 0x0;

/*
 * 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;
 */

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

/*
 * The BIOS module will create the default heap for the system.
 * Specify the size of this default heap.
 */
BIOS.heapSize = 25165824;  /* 524288; */
BIOS.libType = BIOS.LibType_Custom;
BIOS.assertsEnabled = true;
BIOS.logsEnabled = true;
BIOS.cpuFreq.lo = 600000000;
BIOS.rtsGateType = BIOS.GateHwi;

Memory.defaultHeapSize = 25164800;
BIOS.runtimeCreatesEnabled = true;

Hwi.dispatcherSwiSupport = true;
Hwi.dispatcherTaskSupport = true;
Hwi.dispatcherAutoNestingSupport = true;
Hwi.initStackFlag = false;
Hwi.checkStackFlag = false;

SysMin.bufSize = 0x0;
System.SupportProxy = SysStd;
Defaults.common$.diags_INTERNAL = Diags.ALWAYS_ON;
Defaults.common$.diags_ASSERT = Diags.ALWAYS_ON;
Main.common$.diags_INFO = Diags.ALWAYS_ON;
Clock.tickPeriod = 1000;

/* System stack size (used by ISRs and Swis) */
Program.stack = 0x20000;

Task.defaultStackSize = 0x2000;
Task.idleTaskStackSize = 0x4000;

Task.enableIdleTask = true;
Task.initStackFlag = true;
Task.checkStackFlag = true;

Global.networkOpenHook = null;
Global.networkCloseHook = null;
Global.stackBeginHook = null;
Global.stackThreadUser = "&ndk_integrate_stackThread";

Ip.ResolveIP = false;
Ip.dhcpClientMode = 1;
Ip.CallByIP = false;
Ip.autoIp = false;
Ip.address = "192.168.1.21";
Ip.gatewayIpAddr = "192.168.1.1";
Ip.mask = "255.255.255.0";

Tcp.transmitBufSize    = 8192;
Tcp.receiveBufSize     = 65536;
Tcp.receiveBufLimit    = 65536;
Tcp.keepProbeTimeout = 6000;
Tcp.keepProbeInterval = 750;

Global.ndkTickPeriod = 100;
Global.kernTaskPriLevel = 11;
Global.serviceReportHook = null;
Global.IPv6 = false;

Ip.ifIdx = 2;
Global.networkIPAddrHook = null;

Global.ndkThreadStackSize = 8192;
Global.pktNumFrameBufs = 384;
Global.netSchedulerPri = Global.NC_PRIORITY_HIGH;
Global.debugPrintLevel = Global.DBG_INFO;
Global.debugAbortLevel = Global.DBG_ERROR;

/*
Following  lines are added to configure SYSBIOS to use DMTimer4 for internal clock. Clock frequency set to 24 Mhz
for accuracy
*/
/*
var Timer = xdc.useModule('ti.sysbios.timers.dmtimer.Timer');
Timer.intFreqs[2] = {hi: 0, lo: 24000000}
Clock.timerId = 2;
*/
/* BIOS instances for our example */
var semaphore0Params = new Semaphore.Params();
semaphore0Params.instance.name = "switchReady";
semaphore0Params.mode = Semaphore.Mode_BINARY;
/*
var Telnet = xdc.useModule('ti.ndk.config.Telnet');
var telnet0Params = new Telnet.Params();
telnet0Params.callBackFxn = "&ConsoleOpen";
var telnet0 = Telnet.create(telnet0Params);
*/

/*
Log = xdc.useModule('xdc.runtime.Log');
Timestamp = xdc.useModule('xdc.runtime.Timestamp');
var LoggingSetup = xdc.useModule('ti.uia.sysbios.LoggingSetup');
LoggingSetup.sysbiosLoggerSize = 65536;
LoggingSetup.sysbiosSwiLogging = true;
LoggingSetup.sysbiosHwiLogging = true;
LoggingSetup.sysbiosSemaphoreLogging = true;
LoggingSetup.loadTaskLogging = false;
LoggingSetup.loadSwiLogging = false;
LoggingSetup.loadHwiLogging = false;
LoggingSetup.enableTaskProfiler = true;
*/

Program.sectMap["ti.sysbios.family.arm.a8.mmuTableSection"] = new Program.SectionSpec();
Program.sectMap["ti.sysbios.family.arm.a8.mmuTableSection"].loadSegment = "SRAM_HI";
Program.sectMap["ti.sysbios.family.arm.a8.mmuTableSection"].type = "NOLOAD";

Program.sectMap[".c_int00"] = new Program.SectionSpec();
Program.sectMap[".c_int00"].loadAddress = 0x80000000;
Program.sectMap[".c_int00"].runAddress = 0x80000000;

Program.sectMap[".biosheap"] = new Program.SectionSpec();
Program.sectMap[".biosheap"].runAddress = 0x80800000;
Program.sectMap[".biosheap"].type = "NOLOAD";


BIOS.libType = BIOS.LibType_Debug;
/*BIOS.customCCOpts = "--endian=little -mv7A8 --abi=eabi --neon --float_support=vfpv3 -q -ms  --program_level_compile -g";*/
BIOS.assertsEnabled = true;
BIOS.logsEnabled = true;

/***********************************************
 *              MMU Configuration              *
 ***********************************************/


var peripheralAttrs = {
    type : Mmu.FirstLevelDesc_SECTION, // SECTION descriptor
    tex: 1,
    bufferable : true,                // bufferable
    cacheable  : true,                // cacheable
    shareable  : false,                // shareable
    noexecute  : false,                 // not executable
};

/* MMU configuration for NOR - bufferable| Cacheable */
var peripheralBaseAddr = 0x08000000;
Mmu.setFirstLevelDescMeta(peripheralBaseAddr, peripheralBaseAddr, peripheralAttrs);

/* MMU configuration for NOR - bufferable| Cacheable */
var peripheralBaseAddr = 0x08100000;
Mmu.setFirstLevelDescMeta(peripheralBaseAddr, peripheralBaseAddr, peripheralAttrs);

/* MMU configuration for NOR - bufferable| Cacheable */
var peripheralBaseAddr = 0x08200000;
Mmu.setFirstLevelDescMeta(peripheralBaseAddr, peripheralBaseAddr, peripheralAttrs);


/* Force peripheral section to be NON cacheable strongly-ordered memory */
var peripheralAttrs = {
    type : Mmu.FirstLevelDesc_SECTION, // SECTION descriptor
    tex: 0,
    bufferable : false,                // bufferable
    cacheable  : false,                // cacheable
    shareable  : false,                // shareable
    noexecute  : false,                 // not executable
};

/* MMU configuration for PWM - Non bufferable| Non Cacheable */
var peripheralBaseAddr = 0x48300000;
Mmu.setFirstLevelDescMeta(peripheralBaseAddr, peripheralBaseAddr, peripheralAttrs);

/* MMU configuration for INTCPS,MPUSS - Non Bufferable| Non Cacheable */
var peripheralBaseAddr = 0x48200000;
Mmu.setFirstLevelDescMeta(peripheralBaseAddr, peripheralBaseAddr, peripheralAttrs);

/* MMU configuration for I2C2,McSPI1,UART3,UART4,UART5, GPIO2,GPIO3,MMC1 - Non bufferable| Non Cacheable */
var peripheralBaseAddr = 0x48100000;
Mmu.setFirstLevelDescMeta(peripheralBaseAddr, peripheralBaseAddr, peripheralAttrs);

/* MMU configuration for UART1,UART2,I2C1,McSPI0,McASP0 CFG,McASP1 CFG,DMTIMER,GPIO1 -Non bufferable| Non Cacheable */
var peripheralBaseAddr = 0x48000000;
Mmu.setFirstLevelDescMeta(peripheralBaseAddr, peripheralBaseAddr, peripheralAttrs);

/* MMU configuration for UART1,UART2,I2C1,McSPI0,McASP0 CFG,McASP1 CFG,DMTIMER,GPIO1 -Non bufferable| Non Cacheable */
var peripheralBaseAddr = 0x48030000;
Mmu.setFirstLevelDescMeta(peripheralBaseAddr, peripheralBaseAddr, peripheralAttrs);

/* MMU configuration for Clock Module, PRM, GPIO0, UART0, I2C0, - Non bufferable| Non Cacheable */
var peripheralBaseAddr = 0x44E00000;
Mmu.setFirstLevelDescMeta(peripheralBaseAddr, peripheralBaseAddr, peripheralAttrs);


var peripheralAttrs = {
    type : Mmu.FirstLevelDesc_SECTION, // SECTION descriptor
    tex: 1,
    bufferable : true,                // bufferable
    cacheable  : false,                // cacheable
    shareable  : true,                // shareable
    noexecute  : false,                 // not executable
};

/* MMU configuration for //PRUSS1 -Bufferable| Non Cacheable | Shareable */
var peripheralBaseAddr = 0x4A300000;  // Should it be bufferable??
Mmu.setFirstLevelDescMeta(peripheralBaseAddr, peripheralBaseAddr, peripheralAttrs);


var peripheralAttrs = {
    type : Mmu.FirstLevelDesc_SECTION, // SECTION descriptor
    tex: 0,
    bufferable : false,                // bufferable
    cacheable  : false,                // cacheable
    shareable  : false,                // shareable
    noexecute  : false,                 // not executable
};

/* MMU configuration for EDMA3 - Non bufferable| Non Cacheable */
var peripheralBaseAddr = 0x49000000;
Mmu.setFirstLevelDescMeta(peripheralBaseAddr, peripheralBaseAddr, peripheralAttrs);

/* MMU configuration for L4 FAST CFG- Non bufferable| Non Cacheable */
var peripheralBaseAddr = 0x4A000000;
Mmu.setFirstLevelDescMeta(peripheralBaseAddr, peripheralBaseAddr, peripheralAttrs);

/* MMU configuration for CPSW - Non bufferable| Non Cacheable */
var peripheralBaseAddr = 0x4A100000;
Mmu.setFirstLevelDescMeta(peripheralBaseAddr, peripheralBaseAddr, peripheralAttrs);

var peripheralBaseAddr = 0x49a00000;
Mmu.setFirstLevelDescMeta(peripheralBaseAddr, peripheralBaseAddr, peripheralAttrs);

var peripheralBaseAddr = 0x49900000;
Mmu.setFirstLevelDescMeta(peripheralBaseAddr, peripheralBaseAddr, peripheralAttrs);

var peripheralBaseAddr = 0x49800000;
Mmu.setFirstLevelDescMeta(peripheralBaseAddr, peripheralBaseAddr, peripheralAttrs);

var peripheralBaseAddr = 0x40300000;
Mmu.setFirstLevelDescMeta(peripheralBaseAddr, peripheralBaseAddr, peripheralAttrs);

Program.linkTemplate = "linker_template.xdt";

/*  SemiHosting turn ON/OFF switch */
utils.load("../semihosting.cfg");