1. Overview¶

1.1.3.1. “Hello World” example with no operating system¶

The simplest example that you can write is a “Hello World” example that runs in bare metal or no operating system. CCS comes with templates of a semi-hosted program for the different device and core. Using this template allows standard output to be displayed on the host PC using the debugger. This is a good way to start learning basic configurations such as the memory map of your device. Specific instructions for each platform bundled in the Processor SDK RTOS can be found at Processor SDK Bare-Metal Examples

1.1.3.2. Simple examples with an operating system¶

The next level of complexity is the take that same “Hello World” example and run it over the TI-RTOS kernel. Besides a template for the simple four-line “Hello World” example, CCS comes with templates for other features of the kernel such as clock, error, event, log, SWI, and task. You will also learn how to configure the TI-RTOS kernel for such things as enabling semi-host support. Specific instructions for each platform bundled in the Processor SDK RTOS can be found at Processor SDK RTOS Examples

1.1.4.1. Peripheral driver example¶

The next level of complexity is to start using peripherals of your device. There are low-level driver examples that are provided in the Processor SDK RTOS package. These are CCS projects that can be used to test an individual peripheral. Some of the examples use multiple low level drivers; for example, the GPIO example will use I2C driver for reading EVM board ID to auto configure the software and UART driver to display status messages.

For simplicity and flexibility, the CCS project information are captured in configuration files that you can use to generate CCS projects for your platform, EVM, endian, and core. Once CCS projects are created, they are loaded and run on the EVM via JTAG. Instructions to create and run the CCS projects can be found at Rebuilding The PDK

1.1.5.1. Demonstrations in Processor SDK RTOS¶

Start with running the demonstrations that are part of Processor SDK RTOS package. These demonstrations can be run “out of box” since pre-build binaries are provided, but also contain source to that you can set breakpoints and step through the code. The demonstrations contain a richer set of software and perform more complex features such as audio and graphics.

Not all demonstrations are applicable to all platforms. The following page has a list of all demonstrations and supported platform: Processor SDK_RTOS Examples and Demonstrations

1.1.5.2. Custom application¶

Next, watch the following training video on guidelines to write a custom application using the SDK.

This video has a lot of content, as you can see from the duration. It is broken down into the following sections:

• Setup development environment including download software, configure target EVM
• Start with basic software examples and basic connectivity of EVM
• Run demo applications provided in SDK
• Develop application using drivers in SDK
• Port software to custom hardware by changing the board support package
• Customize application for certain use cases

If you have custom hardware, the SDK software is organized to ease porting to a new hardware. All EVM-specific software is kept in the board support package, Board Library. Functions include unlocking MMR registers, initializing PLL, configuring clock, configuring PinMux, initialing DDR, and creating a UART instance for console output. Individual examples, unit tests, and demonstrations call the Board Library so that each of these applications can be migrated to a custom hardware by modifying the Board Library. You may want to also port the EVM diagnostics to your custom hardware and ensure the test suite passes.

The customize module provides information to create a new application. This includes configuring TI-RTOS kernel to link required driver libraries, memory map, RTSC platform definition, and task creation.

1.1.6.1. Code Composer Studio¶

The Processor-SDK RTOS uses Code Composer Studio as the host integrated development environment for development and debug. All compilers are packaged with the SDK installer. This allows compilation of software without needing to install CCS. You only need CCS if you are using CCS projects, using JTAG to communicate with target, or need an Integrated Development Environment (IDE) for development and debug.

To download CCS, use the installer specified on the Processor-SDK download page for your platform (see links in below section).

When installing CCS, you can choose to control what is installed for processor architecture.

The minimum required for the SDK are the following items

• Sitara AMx Processors for AM335x, AM437x, AM57x
• 66AK2x multicore DSP + ARM Processors & C66x KeyStone multicore DSP for K2E, K2G, K2H, K2K, K2L, C665x, C667x
• OMAP-L1x DSP + ARM9 Processor for OMAP-L1x
• C6000 Power-Optimized DSP for C674x

1.1.6.2. Emulator support¶

The support for connecting a JTAG to the EVM to debug software is included in the CCS package. In some cases, additional modifications to configuration GEL files are provided separately. To get the latest version, perform a CCS Check for Updates.

The relevant update will be named

• Sitara Device Support for AM335x, AM437x, AM57x
• Keystone2 Device Support for K2E, K2G, K2H, K2K, K2L
• Keystone1 Device Support for C665x, C667x
• OMAPL/Integra Device Support for OMAP-L1x
• C6000 Device Support for C674x

For example, an update for Sitara devices will look like:

1.1.6.3. Processor-SDK for RTOS¶

The final step is to download and install the Processor-SDK RTOS. See the software product page for your device to get the latest version of this software:

• Processor SDK for AM335x
• Processor SDK for AM437x
• Processor SDK for AM57xx
• Processor SDK for AMIC110
• Processor SDK RTOS for C665x
• Processor SDK RTOS for C667x
• Processor SDK RTOS for C6747/OMAP-L17
• Processor SDK RTOS for C6748/OMAP-L138
• Processor SDK RTOS for K2E
• Processor SDK RTOS for K2G
• Processor SDK RTOS for K2H/K2K
• Processor SDK RTOS for K2L

From the appropriate software product page, go to the download page by clicking “Get Software” for the RTOS package.

1.1.11.1. Overview¶

This page details how to use an image file to create a bootable SD card for the Processor SDK RTOS for AM3/AM4/AM5/K2G. This is only required one time. After that, you can use Windows to delete the SD card contents and replace it with whatever you would like to boot.

The contents of an bootable RTOS application will contain two files on the SD card:

• app - Application image
• MLO - Boot loader image

1.1.11.2. What is Needed¶

• Access to a Windows PC
• A valid Processor SDK RTOS for the appropriate processor installed (AM335x, AM437x, AM57xx, K2G)
• Software to write an image file to a SD card
• A SD card appropriate for the required hardware platform, must be 1GB or larger
• A SD card reader/writer

1.1.11.3. Steps to Follow¶

Here is the process to follow to create the SD card.

[SDK Install Path]\processor_sdk_rtos_<platform>_<version>\prebuilt-sdcards\<evm>\sd_card_img\

1.1.11.3.2. Use the software for writing an image to disk to write the .img file to the SD card¶

• Plug the SD card into the SD card reader/writer.
• Insert the SD card reader/writer into the PC.
• Launch the disk writer software. In the screenshots below, we are using Win32 Disk Imager.

• Choose the image file for the SDK that you want to write.

• Choose the SD card as the “Device”.
• Write the image to the SD card by click “Write”. You will likely get the below confirmation box. This command will overwrite whatever disk you point it to, please make sure and choose the correct disk.

• You should see the following status bar as the image is being written to the disk

• When the write is complete, you will get the following notification:

• You can now close the image writing program by click “Exit”.

Safely eject the SD card from the computer

Here’s an example using Windows 7:

Note

Once SD card is made bootable with Win32 disk imager, it contains sample “MLO” and “app” which can be used on the target platform.

1.1.11.4. Boot from SD Card¶

To boot from SD card, simply plug in the SD card to the EVM and power on the board. If you used the examples provided in the Processor SDK RTOS installer, you will see

• AM335x/AM437x:

• AM57x:

1.1.12.1. Overview¶

The Processor SDK RTOS for AM3/AM4/AM5/K2G includes a script in the directory

[SDK Install Path]\processor_sdk_rtos_<platform>_<version>\bin\

named create-sdcard.sh. The purpose of this script is to create SD cards to load with images for RTOS applications.

The contents of an bootable RTOS application will contain two files on the SD card:

• app - Application image
• MLO - Boot loader image

The script will give you information about each step, but the following sections will go over the details and walk you through how to use the script as well.

1.1.12.2. What is Needed¶

• Access to a Linux PC
• A valid Processor SDK RTOS for the appropriate processor installed (AM335x, AM437x, AM57xx, K2G)
• A SD card appropriate for the required hardware platform, must be 1GB or larger
• A SD card reader/writer

1.1.12.3. Creating an SD card¶

sudo [SDK INSTALL DIR]/bin/create-sdcard.sh [path/to/sdcard/files]

sudo [SDK INSTALL DIR]/bin/create-sdcard.sh [SDK INSTALL DIR]/prebuilt-sdcards/[EVM DIR]/sd_card_files/

Availible Drives to write images to:

#  major   minor    size   name
1:   8       16    7761920 sdb

Enter Device Number:

1.1.12.4. Load Default Images to SD Card¶

The purpose of this section is to cover how to use the create-sdcard.sh script to populate an SD card that can be used to boot the device using the default images that ship with the Processor SDK for RTOS.

For example purposes, you can use the one that is bundled in the SDK. The file is located in

[SDK Install Path]/processor_sdk_rtos_<platform>_<version>/prebuilt-sdcards/<evm>/sd_card_files/

For example, the default location of the image file for the GP AM57x EVM is

~/ti/processor_sdk_rtos_am57xx_2_00_00_00/prebuilt-sdcards/evmAM572x/sd_card_files/

The command to load the SD card is

sudo [SDK Install Path]/bin/create-sdcard.sh ~/ti/processor_sdk_rtos_am57xx_2_00_00_00/prebuilt-sdcards/evmAM572x/sd_card_files

1.1.12.5. Boot from SD Card¶

To boot from SD card, simply plug in the SD card to the EVM and power on the board. If you used the examples provided in the Processor SDK RTOS installer, you will see

• AM335x/AM437x:

• AM57x:

1.2.4.1. Development Host Content¶

• CG_XML - Perl scripts used to process the XML files that come from the TI code generation tools
• XDC Tools - XDCtools contains all of the tools for reusable software components, optimized for real-time embedded systems
• ARM GCC Compiler - GNU GCC ARM contains runtime libraries and cross-compilers used for ARM development
• TI ARM Compiler - TI ARM code generation tools, including C/C++ compiler, linker, and run-time-support libraries
• TI C6000 Compiler - TI C6X code generation tools, including C/C++ compiler, linker, and run-time-support libraries
• TI PRU Compiler - TI PRU code generation tools, including C/C++ compiler, linker, and run-time-support libraries

1.2.4.2. Target Content¶

• CTOOLSLIB - C6x DSP software libraries to use trace/instrumentation hardware blocks on SOC (e.g., ETB, AET, STM)
• DSPLIB - Optimized C6x DSP function library for C programmers
• EDMA3-LLD - EDMA3 low level driver that supports data transfers between two memory mapped devices
• FC: Framework Components is comprised of XDAIS algorithm resource managers and functional interfaces
• FFTLIB - Optimized C6x DSP Fast Fourier Transform function library for C programmers
• IMGLIB - Optimized C6x DSP image and video processing function library for C programmers
• IPC - InterProcess Communication mechanisms including message passing, streams, and linked lists, which work transparently in both uniprocessor and multiprocessor configurations
• LIBARCH - Library architecture framework used by other C6x DSP optimized libraries
• LINALG - Optimized C6x DSP dense linear algebra function library for C programmers
• MATHLIB - Optimized C6x DSP floating-point math function library for C programmers
• MPM - Multiproc Manager C6x DSP component provides services to MPM Linux module to load and manage remote processors
• NDK - Network Development Kit package provides an example network stack that runs on the TI-RTOS kernel
• OPENCL - OpenCL is a framework for writing programs that execute across heterogeneous systems
• OPENMP - OpenMP Runtime implements support for the OpenMP API specification, a standard for shared memory parallel programming
• PDK - Platform Development Kit that includes Chip Support Libarary (CSL), Low Level Drivers (LLD), Boot, Diagnostics, and other functions
• SYS/BIOS - TI-RTOS kernel, a real-time operating system that provides pre-emptive deterministic multithreading
• UIA - Unified Instrumentation Architecture (UIA) APIs and transports allow embedded software to log trace/event instrumentation data that can be visualized in CCS
• XDAIS - XDAIS (eXpress DSP Algorithm Interoperability Standard) provides the rules and guidelines necessary to enable integration and execution of algorithms

1.4.2.1. Command¶

The SDK build environment can be configured on Windows and Linux by running an environment setup script located in the top-level RTOS SDK folder.

C:\ti\processor_sdk_rtos_[soc]_[version]> setupenv.bat

C:\ti\processor_sdk_rtos_[soc]_[version]>setupenv.bat

IPC_PLATFORM: DRA7XX
IPC_ALT_PLATFORM: AM572X AM571X
PROC_SDK_INSTALL_PATH     : C:/ti/processor_sdk_rtos_[soc]_[version]
**************************************************************************
Changing to short name to support directory names containing spaces
current directory: C:/ti/processor_sdk_rtos_[soc]_[version]
PROCESSOR SDK BUILD ENVIRONMENT CONFIGURED
**************************************************************************

~/ti/processor_sdk_rtos_[soc]_[version]$ source setupenv.sh

~/ti/processor_sdk_rtos_[soc>]_[version]$ source setupenv.sh
    IPC_PLATFORM: DRA7XX
    IPC_ALT_PLATFORM: AM572X AM571X
    PROC_SDK_INSTALL_PATH     : /home/[user]/ti/processor_sdk_rtos_[soc]_[version]

PROCESSOR SDK BUILD ENVIRONMENT CONFIGURED
*******************************************************************************

1.4.3.1. Target Types¶

For each of the targets discussed below the following target type are defined:

• <target> - This is the build target which will compile the release version of the component
• <target>_clean - This target will clean the component

1.4.3.2. Top-Level Targets¶

The Processor SDK for RTOS provides the following targets by default which will invoke the corresponding component targets:

• help - This will print target information defined in the Makefile
• all - This will call the build target for each component defined in the Makefile
• clean - This will call the clean target for each component defined in the Makefile

1.4.3.3. Common Targets¶

The following targets are common to all Processor SDKs for RTOS:

• pdk - Builds the Platform Development Kit that includes CSL and low level drivers

1.4.3.4. Additional Targets¶

You can find the list of all the targets by invoking help target as described above. Depending on the capabilities and software available for a given device additional targets may also be defined:

• demo - Builds demonstrations provided in the SDK
• ipc_bios - Builds the IPC component provided in the SDK
• ipc_examples - Builds the IPC examples provided in the IPC component

1.4.4.1. Windows¶

• Build all

C:\ti\processor_sdk_rtos_[soc]_[version]> gmake

• Clean all

C:\ti\processor_sdk_rtos_[soc]_[version]> gmake clean

1.4.4.2. Linux¶

• Build all

~/ti/processor_sdk_rtos_[soc]_[version]$ make

• Clean all

~/ti/processor_sdk_rtos_[soc]_[version]$ make clean

1.4.5.1. Rebuild PDK¶

C:\ti\pdk_[soc]_[version]\packages> pdksetupenv.bat

> set RULES_MAKE = C:/ti/pdk_[soc]_[version]/packages/Rules.make
> set PATH=%PATH%;C:/ti/xdc_[xdc_version]

C:\ti\pdk_[soc]_[version]\packages>gmake clean
C:\ti\pdk_[soc]_[version]\packages>gmake all

C:\ti\pdk_[soc]_[version]\packages>gmake <component>_clean
C:\ti\pdk_[soc]_[version]\packages>gmake <component>

Example:

C:\ti\pdk_[soc]_[version]\packages>gmake i2c_clean
C:\ti\pdk_[soc]_[version]\packages>gmake i2c

gmake LIMIT_BOARDS="<BOARD>" LIMIT_SOCS="<SOC>" LIMIT_CORES="<CORE>"

gmake LIMIT_BOARDS="evmAM572x" LIMIT_SOCS="am572x" LIMIT_CORES="a15_0"

gmake LIMIT_BOARDS="evmK2G" LIMIT_SOCS="k2g" LIMIT_CORES="dsp_0"

~/ti/pdk_[soc]_[version]/packages$ source pdksetupenv.sh

$ export RULES_MAKE = /home/ti/pdk_[soc]_[version]/packages/Rules.make

~/ti/pdk_[soc]_[version]/packages$ make clean
~/ti/pdk_[soc]_[version]/packages$ make all

~/ti/pdk_[soc]_[version]/packages$ make <component>_clean
~/ti/pdk_[soc]_[version]/packages$ make <component>

Example:

~/ti/pdk_[soc]_[version]/packages$ make i2c_clean
~/ti/pdk_[soc]_[version]/packages$ make i2c

make LIMIT_BOARDS="<BOARD>" LIMIT_SOCS="<SOC>" LIMIT_CORES="<CORE>"

make LIMIT_BOARDS="evmAM572x" LIMIT_SOCS="am572x" LIMIT_CORES="a15_0"

make LIMIT_BOARDS="evmK2G" LIMIT_SOCS="k2g" LIMIT_CORES="dsp_0"

Windows Usage:
  pdkProjectCreate.bat [soc] [board] [endian] [module] [project type] [processor] [pdkDir]

 Description:     (first option is default)
  soc         -   AM335x / AM437x / AM571x / AM572x / K2E / K2G / K2K / K2H / K2L /
                  C6678 / C6657 / DRA72x / DRA75x / DRA78x / OMAPL137 / OMAPL138
  board       -   all (use "all" for K2X and C66X SOCs)
                  -or-
                  Refer to pdk_<soc>_<version>\packages\ti\board\lib
                  for valid board inputs for the soc
  endian      -   little / big
  module      -   all
                  -or-
                  aif2 / bcp / cppi / csl / dfe / emac / fatfs / fm / fftc /
                  gpio / hyplnk / i2c / icss_emac / iqn2 / mcasp / mcbsp / mmap / mmcsd /
                  nimu / nimu_icss / nwal / osal / pa / pcie / pktlib / pruss / qm / rm /
                  sa /serdes-diag / spi / srio / tcp3d / tfw / transportqmss /
                  transportsrio / tsip / uart / usb / wdtimer / vps / dcan / dss / lcdc
  project type -  all / example / test
  processor   -   arm / dsp / m4
  pdkDir      -   THIS FILE LOCATION / "C:\ti\pdk_<soc>_<version>\packages"

 Example:
  a) pdkProjectCreate.bat
              - Creates all module projects for the AM335x soc for arm little endian
  b) pdkProjectCreate.bat AM437x
              - Creates all module projects for the AM437x soc for arm little endian
  c) pdkProjectCreate.bat AM437x idkAM437x
              - Creates all module projects for idkAM437x device for arm little endian
  d) pdkProjectCreate.bat AM571x evmAM571x little
              - Creates all module projects for evmAM571x device for arm little endian
  e) pdkProjectCreate.bat AM571x evmAM571x little i2c all dsp
              - Creates all i2c module projects for evmAM571x device for dsp little endian
  f) pdkProjectCreate.bat K2H all little i2c example arm
              - Creates i2c module example projects for K2H device for arm little endian
  g) pdkProjectCreate.bat C6678 all little hyplnk test dsp
              - Creates hyplnk module test projects for C6678 device for dsp little endian
  h) pdkProjectCreate.bat OMAPL138 all little uart all dsp
              - Creates all uart module projects for C6748 and OMAPL138 device for dsp little endian

Linux Usage:
 pdkProjectCreate.sh [soc] [board] [endian] [module] [project type] [processor]

  Description:    (first option is default)
  soc         -   AM335x / AM437x / AM571x / AM572x / K2E / K2G / K2K / K2H / K2L /
                  C6678 / C6657 / DRA72x / DRA75x / DRA78x / OMAPL137 / OMAPL138
  board       -   all (use "all" for K2X and C66X SOCs)
                  -or-
                  Refer to pdk_<soc>_<version>\packages\ti\board\lib
                  for valid board inputs for the soc
  endian      -   little / big
  module      -   all
                  -or-
                  aif2 / bcp / cppi / csl / dfe / emac / fatfs / fm / fftc /
                  gpio / hyplnk / i2c / icss_emac / iqn2 / mcasp / mcbsp / mmap / mmcsd /
                  nimu / nimu_icss / nwal / osal / pa / pcie / pktlib / pruss / qm / rm /
                  sa / serdes-diag / spi / srio / tcp3d / tfw / transportqmss /
                  transportsrio / tsip / uart / usb / wdtimer / vps / dcan / dss / lcdc
  project type -  all / example / test
  processor   -   arm / dsp / m4

  Example:
   a) pdkProjectCreate.sh
               - Creates all module projects for the AM335x soc for arm little endian
   b) pdkProjectCreate.sh AM437x
               - Creates all module projects for the AM437x soc for arm little endian
   c) pdkProjectCreate.sh AM437x idkAM437x
               - Creates all module projects for idkAM437x device for arm little endian
   d) pdkProjectCreate.sh AM571x evmAM571x little
               - Creates all module projects for evmAM571x device for arm little endian
   e) pdkProjectCreate.sh AM571x evmAM571x little i2c all dsp
               - Creates all i2c module projects for evmAM571x device for dsp little endian
   f) pdkProjectCreate.sh K2H all little i2c example arm
               - Creates i2c module example projects for K2H device for arm little endian
   g) pdkProjectCreate.sh C6678 all little hyplnk test dsp
               - Creates hyplnk module test projects for C6678 device for dsp little endian
   h) pdkProjectCreate.sh OMAPL138 all little uart all dsp
               - Creates all uart module projects for C6748 and OMAPL138 device for dsp little endian

1.4.5.2. Rebuild IPC¶

• Rebuild IPC (Starting in Release 3.0, IPC build has been integrated into the top-level SDK Makefile.)

1.4.5.3. Rebuild NDK¶

• Rebuild NDK

1.4.5.4. Rebuild SYS/BIOS¶

• Rebuild SYS/BIOS