VAR-SOM-AM62 - MCU-PLUS-SDK 08_06_00_18

Overview

MCU-PLUS-SDK 08_06_00_18 for for AM62X

This SDK contains examples, libraries and tools to develop RTOS and no-RTOS based applications for ARM M4F CPU, ARM R5F CPU and related peripherals.

The examples and demos supported from TI are arranged as below

~/mcu-plus-sdk-am62x/examples/{optional component or module}/{optional sub-module or sub-component}/{example name}/{board on which this example can run}/{cpu}_{os}/{compiler toolchain}

For example referring to ipc_rpmsg_echo_linux for VAR-SOM-AM62

{optional component or module}: e.g. driver
{optional sub-module or sub-component}: e.g. ipc
{example name}: e.g. ipc_rpmsg_echo_linux
{board on which this example can run}: var-som-am62
{cpu}_{os}: e.g. m4fss0-0_freertos
{compiler toolchain}: ti-arm-clang

For more details please see TI Examples and Demos

To see the examples supported by Variscite, please look at the table Available demos:

Documentation

MCU-PLUS-SDK

Available online from TI AM62x MCU+ SDK

Locally starting documentation server
 "cd ~/mcu-plus-sdk-am62x"
 "python3 -m http.server 8080 &"
 open web browser to "http://<ip where documentation server is running>:8080/docs/api_guide_am62x/index.html"

Other useful informations

Boot Flow
IPC for AM62x

Prerequisites

Before starting, prepare a Yocto boot SD.

Installing required packages

Download and install TI CLANG Compiler Toolchain:

$ cd /tmp
$ wget https://dr-download.ti.com/software-development/ide-configuration-compiler-or-debugger/MD-ayxs93eZNN/2.1.2.LTS/ti_cgt_armllvm_2.1.2.LTS_linux-x64_installer.bin
$ chmod +x ti_cgt_armllvm_2.1.2.LTS_linux-x64_installer.bin
$ ./ti_cgt_armllvm_2.1.2.LTS_linux-x64_installer.bin and install to ~/ti/ti-cgt-armllvm_2.1.2.LTS
$ rm ti_cgt_armllvm_2.1.2.LTS_linux-x64_installer.bin

Download MCU-PLUS-SDK for the SOM:

$ mkdir ~/mcu-plus-sdk-am62x
$ cd ~/mcu-plus-sdk-am62x
$ git clone https://github.com/varigit/ti-mcu-plus-sdk -b mcu_plus_sdk_am62x_08_06_00_18_var01 ~/mcu-plus-sdk-am62x

Demos pins for M4F CPU

Default M4F pins used by the demos are:

Function	SoC balls	VAR-SOM-AM62 pins	Symphony pins	Notes
UART2 RXD/TXD	R24/R25	J1.115/J1.171	J18.9 / J18.7	The UART2 is not an instance from the MCU domain so only the polling mode is supported. To more details: Accessing main and wakeup domain peripherals from MCU domain Don't use /dev/ttyS2 from linux while running M4F examples to avoid conflicts.
MCU_GPIO0_14 (Input)	B3	J1.155	J13.16 (HDMI connector)	HDMI to header connector adapter is required
MCU_GPIO0_13 (Output)	D6	J1.157	J13.18 (HDMI connector)	HDMI to header connector adapter is required
MCU_MCAN1 RX/TX	D4/E5	J1.154/J1.156	J13.9/J13.11 (TTL levels, CAN transceiver not mounted!)	HDMI to header connector adapter is required
MCU_SPI0 CLK/D0/D1/CS1	A7/D9/C9/B8	J1.150/J1.151/J1.152/J1.153	J13.17/J13.21/J13.15/J13.23	HDMI to header connector adapter is required
MCU_I2C0 SCL/SDA	A8/D10	J1.146/J1.148	J13.22/J13.24	HDMI to header connector adapter is required

Demos pins for R5F CPU

Default R5F pins used by the demos are:

Function	SoC balls	VAR-SOM-AM62 pins	Symphony pins	Notes
WKUP_UART0 RXD/TXD	B4/C5	J1.145/J1.147	JJ3.8/J3.9
MCU_GPIO0_14 (Input)	B3	J1.155	J13.16 (HDMI connector)	HDMI to header connector adapter is required
MCU_GPIO0_13 (Output)	D6	J1.157	J13.18 (HDMI connector)	HDMI to header connector adapter is required
MCAN0 RX/TX	E15/C15	J1.46/J1.44	J16.18 / J16.20 (CANL/CANH levels, CAN transceiver mounted!)
MCU_SPI0 CLK/D0/D1/CS1	A7/D9/C9/B8	J1.150/J1.151/J1.152/J1.153	J13.17/J13.21/J13.15/J13.23	HDMI to header connector adapter is required
WKUP_I2C0 SCL/SDA	B9/A9	J1.140/J1.141	J3.15/J3.5	HDMI to header connector adapter is required

Available demos

All of the Variscite examples are located under the following folders

~/mcu-plus-sdk-am62x/examples/{component or module}/{optional sub-module or sub-component}/{example name}/var-som-am62/{cpu}_{os}/{compiler toolchain}

The available demos for VAR-SOM-AM62 are:

drivers/gpio/gpio_input_interrupt
drivers/gpio/gpio_led_blink
drivers/i2c/i2c_led_blink
drivers/i2c/i2c_read
drivers/i2c/i2c_temperature
drivers/ipc/ipc_notify_echo
drivers/ipc/ipc_rpmsg_echo
drivers/ipc/ipc_rpmsg_echo_linux
drivers/mcan/mcan_loopback_interrupt
drivers/mcan/mcan_loopback_polling
drivers/mcspi/mcspi_loopback
drivers/mcspi/mcspi_performance_32bit
drivers/mcspi/mcspi_performance_8bit
drivers/sciclient/sciclient_get_version
drivers/uart/uart_echo
drivers/uart/uart_echo_low_latency_polling
drivers/udma/udma_chaining
drivers/udma/udma_memcpy_interrupt
drivers/udma/udma_memcpy_polling
drivers/udma/udma_sw_trigger
empty
hello_world
hello_world_cpp
kernel/dpl/dpl_demo
kernel/freertos/posix_demo
kernel/freertos/task_switch

The folders am62x-sk and am62x-sk-lp are related to the examples for TI Starter Kit.

You can build and run the demos following official TI documentation:

https://software-dl.ti.com/mcu-plus-sdk/esd/AM62X/08_06_00_18/exports/docs/api_guide_am62x/MAKEFILE_BUILD_PAGE.html
https://software-dl.ti.com/mcu-plus-sdk/esd/AM62X/08_06_00_18/exports/docs/api_guide_am62x/GETTING_STARTED_BUILD.html

Building a demo using makefiles

Note: The Linux SDK provide an pre-built example (ipc_rpmsg_echo_linux) that on a target file system is soft linked by am62-mcu-m4f0_0-fw.

root@am62x-var-som:~# ls -l /lib/firmware
lrwxrwxrwx 1 root root 72 May 3 2023 am62-mcu-m4f0_0-fw -> /lib/firmware/pdk-ipc/ipc_echo_baremetal_test_mcu2_0_release_strip.xer5f

We will use ipc_rpmsg_echo_linux as example to explain building procedure.

Building ipc_rpmsg_echo_linux for M4F CPU

$ cd ~/mcu-plus-sdk-am62x
$ export PROJDIR=examples/drivers/ipc/ipc_rpmsg_echo_linux/var-som-am62/m4fss0-0_freertos/ti-arm-clang/
$ make -s -C ${PROJDIR} clean
$ make -s -C ${PROJDIR}
This produces the M4F binary ${PROJDIR}/am62-mcu-m4f0_0-fw for RTOS OS

Building ipc_rpmsg_echo_linux for R5F CPU

$ cd ~/mcu-plus-sdk-am62x
$ export PROJDIR=examples/drivers/ipc/ipc_rpmsg_echo_linux/var-som-am62/r5fss0-0_freertos/ti-arm-clang/
$ make -s -C ${PROJDIR} clean
$ make -s -C ${PROJDIR}
This produces the R5F binary ${PROJDIR}/am62-wkup-r5f0_0-fw for RTOS OS

Running a demo

Booting M4F CPU from linux user space using remoteproc

Note: The remoteproc driver is hard-coded to look for specific files (am62-mcu-m4f0_0-fw) when loading the M4F core.

Before to replace it with new M4F binary a copy is recommended:

root@am62x-var-som:~# cp /lib/firmware/pdk-ipc/ipc_echo_baremetal_test_mcu2_0_release_strip.xer5f /lib/firmware/pdk-ipc/ipc_echo_baremetal_test_mcu2_0_release_strip.xer5f.bk

$ cd ~/mcu-plus-sdk-am62x
$ scp ${PROJDIR}/am62-mcu-m4f0_0-fw root@<target ip>:/lib/firmware/
Run on the target:
$ echo stop > /sys/class/remoteproc/remoteproc0/state
$ echo start > /sys/class/remoteproc/remoteproc0/state

Flashing and booting R5F CPU through SBL

Attention!: Be very careful to use R5F for user app. It is recommended to use M4F instead.
Read TI discussion for more details

Prerequisites

As the wake-up R5F is the device manager, it needs to be updated and started by the SBL. It can not be loaded through linux user space using remoteproc.
Building U-Boot is required. Please referring to Yocto Build U-Boot from source code guide

Flashing R5F CPU

$ cp ${PROJDIR}/am62-wkup-r5f0_0-fw  $DMFW_DIR/am62xx/ipc_echo_testb_mcu1_0_release_strip.xer5f
$ make -j8 ARCH=arm CROSS_COMPILE=aarch64-none-linux-gnu- ATF=$TFA_DIR/build/k3/lite/release/bl31.bin TEE=$OPTEE_DIR/out/arm-plat-k3/core/tee-pager_v2.bin DM=$DMFW_DIR/ipc_echo_testb_mcu1_0_release_strip.xer5f O=$UBOOT_DIR/out/a53
$ Update $UBOOT_DIR/out/a53/tispl.bin referring to Update U-Boot on running system guide

Booting R5F CPU

To boots the new flashed R5F firmware rebooting is need

$ reset command from U-Boot prompt
$ press RST key
$ power off/on cycle