The purpose of this User Guide is to provide more detailed information regarding the usage of TI MCAL software on AM263x.
The Microcontroller abstraction layer (MCAL) is the lowest layer of the AUTOSAR Basic Software architecture.
MCAL contains drivers with direct access to the μC internal peripherals and memory mapped μC external devices.
MCAL is a hardware specific layer that ensures a standard interface to the Basic Software.
It manages the microcontroller peripherals and provides the components of the Basic Software with
microcontroller independent values. MCAL also implements notification mechanisms to support the distribution of commands,
responses, and information to processes. The figure below shows MCAL layer in the AUTOSAR BSW software stack
This TI MCAL delivery is based on the AM263x platform.
AM263x is an SOC from TI targeted to address various AUTOMOTIVE markets.
AUTOSAR is a key software which needs to run on ARM Cortex-R5 so that it can enable communication with other ECUs in the system.
TI needs to provide the MCAL drivers for the AUTOSAR to run on the SOCs.
Customers will need to procure the other AUTOSAR SW stack either internally or from third parties.
A set of MCAL included in the package each controlling a specific peripheral. MCAL drivers included are
MCU – Driver to control enabling of modules, PLL setting and basic microcontroller initialization.
PORT – Driver for control of PinMux
SPI – SPI handler and driver for Serial Peripheral Interfaces: McSPI
CAN – Driver for the on-chip MCAN controller peripheral
GPT – Driver that controls the internal timer of the controller
WDG – Driver for controlling the watchdog when controller goes into continuous loop
DIO – Driver to read and write the data from the Channels / Port
FLS – Driver provides services for reading, writing, erasing flash memory for external flash device
ETH – Driver provides services to transmit and Receive data with the external devices.
ETHTRCV – Driver for Physical Layer Transceiver
ADC – Driver converts the analog value applied to ADC pin to its equivalent digital value.
PWM – Driver provides the pulse width modulated signal.
EPWM - Driver provides the enhanced pulse width modulated signal.
ICU – The ICU driver is a module using the input capture unit (ICU) counting pulses, measuring of frequency and duty cycle.
IPC – Make the initialization of mailbox driver and provides read and write APIs to perform inter processor communication.
UART – Driver provides serial communication using UART.
I2C – Driver provides support for transferring data between an external I2C device and the chip running this driver.
DMA – Provides direct memory access.
FsiRx – Provides fast serial data reception service with the external devices.
FsiTx – Provides fast serial data transmission service with the external devices.
LIN - Driver for the on-chip Lin controller peripheral.
The MCAL drivers implement the Software specification as mentioned in the AUTOSAR 4.3.1 release.
Additionally, examples to demonstrate MCAL driver usages have also been included.
Mcu - This directory contains the source files for the MCU MCAL.
Port - This directory contains the source files for the PORT MCAL.
Spi – This directory contains the source files for the SPI Driver handler.
Can – This directory contains the source files for the Can driver.
Gpt – This directory contains the source files for the GPT driver.
Wdg – This directory contains the source files for the WDG driver.
Dio – This directory contains the source files for the DIO driver.
Fls – This directory contains the source files for the FLS driver.
Eth – This directory contains the source files for the Eth driver.
EthTrcv – This directory contains the source files for the EthTrcv driver.
Adc - This directory contains the source files for the ADC driver.
Pwm - This directory contains the source files for the PWM driver.
Icu - This directory contains the source files for the ICU driver.
Ipc - This directory contains the source files for the IPC driver.
Uart - This directory contains the source files for the Uart driver.
I2c - This directory contains the source files for the I2C driver.
Dma - This directory contains the source files for the Dma driver.
FsiRx - This directory contains the source files for the FsiRx driver.
FsiTx - This directory contains the source files for the FsiTx driver.
Lin - This directory contains the source files for the Lin driver.
Epwm - This directory contains the source files for the Epwm driver.
examples - Examples provided as part of the package to show MCAL driver usage.
examples_config – Contains EB Tresos (configurator) generated configurations for all drivers which is used by the examples
include – Contains include files referred by MCAL drivers.
autosar_include – These included files part of the AUTOSAR BSW core. There include files should replace with the header files part of the AUTOSAR stack into which the MCAL integrated.
build – Make files for building the MCAL library. CAL supports make based build
binary - The entire executables get placed in this directory. The generated library or executable/binary are placed in an appropriate path under target-specific directory.
examples/Utils - Contains utility for plugin in ISRs and enabling/disabling interrupts used commonly across the examples. On a full AUTOSAR system, these will be done by the AUTOSAR stack
This section describes how to build the MCAL package. The package is built using “gmake” from Cygwin.
Make sure that the Cygwin tools location is added to the PATH variable.
Also, make file internally uses some binaries like rm, mkdir, echo etc. from Cygwin.
Standard CCS installation comes with Cygwin, gmake and other utils as required to build MCAL modules.
Edit the Rules. Make file present in <MCAL_INSTALL_PATH>/build/Rules.make to give the appropriate paths
for the tool chains and the current working directory. Make sure that CCS_PATH, and the TOOLCHAIN_PATH_R5 are updated with the proper path.
Edit paths for the below variables according to your system environment
In case of windows machine edit CCS path according to CCS version,
By default the above are for CLANG compiler, modify respective paths accordingly for using other compilers.
Also, the path to generated pre-compile headers for the MCAL modules and generated <Module>_Memmap.h needs to be set by modifying macro autosarConfig_PATH.
The value can be list of directories separated by space.
By default, MCAL package provides pre-generated pre-compile config headers under
<MCAL_INSTALL_PATH>/examples_config/<Module>_Demo_Cfg/soc/<SOC>/<Core>/include.
<SOC> should be with the following value(s): am263 / am273 in folder struture.
Sample <Module>_Memmap.h can be found under <MCAL_INSTALL_PATH>/include/memmap
Go to <MCAL_INSTALL_PATH>/build directory and type below commands:
Description
Commands
Command to build all the libraries
gmake -s all PLATFORM=am263
Command to build an application given in examples folder
gmake -s <app_name> PLATFORM=am263
app_name can be found in the make file of the respective examples folder.
Stop compilation after emitting compilergenerated
object files; do not call linker.
-mlittle-endian
Select little-endian; default
-mcpu=cortex-r5
ARM R5 architecture
-mfpu=vfpv3-d16
Select appropriate floating-point hardware
-mfloat-abi=hard
Floating-point hardware is available; select appropriate
hardware with -mfpu option
–ffp_mode=std
Tells the tiarmclang compiler to generate code where
IEEE finite values with denormals are flushed to zero,
rounding mode is round-tonearest, and no exceptions
are throw
-ffunction-sections
Instructs the tiarmclang compiler to generate code for
a function definition into its own section
-fshort-enums
Instructs the compiler to only allocate as much space
for an enum type data object as is needed to represent
the declared range of possible values
-gdwarf-3
Emit DWARF version 3 debug information
-fdiagnostics-show-option
Discover the category name associated with a given
diagnostic
-Werror
Treat detected warnings in the specified category as
errors
-Os
Most optimizations enabled, especially optimizations
that are designed to reduce code size while mitigating
negative impacts on performance
-x
Decides the compile mode (c / c++ / ti-asm …)
-save-temps
Keeps all temporary files generated during compilation
and linking without halting either the compiler or the
linker
Many examples use a standard UART terminal to log the output from the examples. You can use any UART terminal program for the same. Below steps show how to setup the UART terminal from CCS.
First identify the UART port as enumerated on the host machine.
Make sure that the EVM and UART cable connected as shown in Cable Connections.
In windows, you can use the “Device Manager” to see the detected UART ports.
Search “Device Manager” in Windows Search Box in the Windows taskbar.
If dont see any USB serial ports listed in “Device Manager” under “Ports (COM & LPT)”, then make sure you have installed the UART to USB driver from FTDI, https://www.ftdichip.com/FTDrivers.htm.
Figure 3: Identify UART Port in Windows Device Manager
In CCS, goto “View > Terminal”
Figure 4: UART Terminal Menu
Open a new UART terminal
Figure 5: Open New UART Terminal
Select the UART port, keep other options to default, i.e 115200 baud rate - 8 data bits - No parity - 1 stop bit,
We use this serial port, as seen in the device manager, for below in the SDK
Flashing application via UART
Booting application via UART
Console output for examples
Figure 6: Connect to UART port
In this screenshot this happens to be COM5/COM11 however on your machine this could be different. One tip to make sure there is no mistake in identifying the UART port is to disconnect all other UART to USB devices other than this EVM before checking in device manager.
Many examples use a standard UART terminal to log the output from the examples. You can use any UART terminal program for the same. Below steps show how to setup the UART terminal from CCS.
First identify the UART port as enumerated on the host machine.
Make sure that the EVM and UART cable connected as shown in Cable Connections.
In windows, you can use the “Device Manager” to see the detected UART ports.
Search “Device Manager” in Windows Search Box in the Windows taskbar.
If dont see any USB serial ports listed in “Device Manager” under “Ports (COM & LPT)”, then make sure you have installed the UART to USB driver from FTDI, https://www.ftdichip.com/FTDrivers.htm.
Figure 7: Identify UART Port in Windows Device Manager
In CCS, goto “View > Terminal”
Figure 8: UART Terminal Menu
Open a new UART terminal
Figure 9: Open New UART Terminal
Select the UART port, keep other options to default, i.e 115200 baud rate - 8 data bits - No parity - 1 stop bit,
We use this serial port, as seen in the device manager, for below in the SDK
Flashing application via UART
Booting application via UART
Console output for examples
Figure 10: Connect to UART port
In this screenshot this happens to be COM5/COM11 however on your machine this could be different. One tip to make sure there is no mistake in identifying the UART port is to disconnect all other UART to USB devices other than this EVM before checking in device manager.
This section has more details on AM263X-CC and AM263X-LP. This is mainly for reference.
Make sure boot mode switch is setup to NOBOOT mode to use with CCS.
If user does not have a functional setup using CCS with then the instructions in this section are relevant.
Installing CCS
- Use TI CCS v12.1.0 or later
- After the package is downloaded, you will be prompted to restart CCS to complete the installation.
- The installer will install the Emulation package and complete installation.
Connect the CC or EVM board to your computer through JTag (USB Port)
Before running the binary file on target H/W follow the steps mentioned below:
Launch CCS, Go to View > Target Configuration
Create a new target configuration
Give a nice name to the new target configuration, typically {SOC name} _ {JTAG type}
Select connection as XDS110 USB Debug Probe
In “Board or Device” type “@VAR_SOC_NAME” and select “AM263x”
Click “Save” to save the newly created target configuration.
Under Advanced tab – Select Cortex_R5_0
Make sure the device gel file path is in the Initialization script field (C:ti/ccs1210/ccs/ccs_base/emulation/gel/AM263x/AM263x.gel)
Click “Save” to save the newly created target configuration
Launch the target configuration for AM263x
Connect to Cortex_R5_0 core
Connect UART USB cable to the serial UART terminal (with appropriate port) and select UART1 serial port for viewing the UART logs and providing user input. By default, configuration may be matched by selecting baud rate as 115200, 8-bit Data Size, Parity None and 1 Stop Bit as the serial port settings.
Load binary files using Load Program option
Run the application and follow the prompts and output on CCS console/UART serial console.
