The purpose of this User Guide is to provide more detailed information regarding the usage of TI MCAL software on AM273x.
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 AM273x platform.
AM273x 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.
These SOCs are expected to be used in safety-critical systems and hence needs to be compliant to ISO26262 specifications.
The targeted compliance for the AUTOSAR MCAL is ASIL-B.
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 : MiBSPI
CAN – Driver for the on-chip DCAN and MCAN controller peripheral
GPT – Driver for General Purpose Timer
WDG – Driver for General Purpose Timer
DIO – Driver for control of GPIOs
FLS – Driver provides services for reading, writing, erasing flash memory for external flash device
ETH – Driver for Ethernet MAC
ETHTRCV – Driver for Physical Layer Transceiver
ADC – Driver for the reading the external GPADC signals connected to the device
PWM – PWM driver for generating the waveforms with required duty cycle and period.
ICU – Driver for input capture unit.
CDD IPC – Driver for the inter process communication between the cores.
CDD UART – Driver for communication over UART.
CDD I2C – Driver for I2C communication between peripherals.
CDD DMA – Not complete driver, currently only there to support DMA mode for Uart & Spi.
QSPI– Driver for flash communication. (Async/DMA)
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 MCAL.
Wdg – This directory contains the source files for the Watchdog MCAL
Dio – This directory contains the source files for the DIO MCAL.
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 ETH driver.
Adc - This directory contains the source files for the Adc driver
Pwm - This directory contains the source files for the PWM driver.
IPC - This directory contains the source files for the CDD IPC driver.
I2c - This directory contains the source files for Cdd_I2c driver
examples - Examples provided as part of the package to show MCAL driver usage.
examples_config – This directory contains configuration details(<Module>_Cfg.h / <Module>_Cfg.c) which are generated using EB Tresos tool for all drivers as per example use case. Refer - configurator_userguide for more details.
include – Contains include files referred by MCAL drivers.
autosar_include – These are include files part of the AUTOSAR BSW core. There include files should be replaced with the header files part of the AUTOSARstack into which the MCAL is integrated.
build – Makefiles for building the MCAL library.MCAL supports make based build
binary - The entire executables are placed in this directory. The generated library or executable/binary is placed in an appropriate path under targetspecific directory.
examples/Utils - Contains utility for plugin in ISRs and enabling/disabling interrupts to be used commonly across the examples.On a full AUTOSARsystem,these will be done by the AUTOSARstack
Note
FsiRx and FsiTx - This directory is applicable only for AM263 Variant.
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.
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_FOLDER>/include/memmap
Go to <MCAL_INSTALL_PATH>/build directory and type below command:
Description
Commands
Command to build all the libraries
gmake -s all PLATFORM=am273 / am2732s
Command to build an application given in examples folder
gmake -s <app_name> PLATFORM=am273 / am2732s
app_name can be found in the make file of the respective examples folder.
Stop compilation after emitting compiler generated 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-to nearest, and no exceptions
are thrown
“-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,
UART for R5F console is only visible in Device Manager when USB XDS110 cable is connected to EVM.
UART for C66x console is only visible in Device Manager when UART to USB cable is connected to EVM.
We use the 1st USB serial port, as seen in the device manager, when USB XDS110 cable is connected for below in the SDK
Flashing application via UART
Booting application via UART
Console output for examples which run from R5F
We use the 3rd USB serial port out of 4 ports emulated, when UART to USB cable is connected for below in the SDK
Console output for examples which run from C66x
In this screenshot this happens to be COM5/COM11 however on your machine this could be different.
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.
AM273xChip Support Package
- Device xml files, GEL files, etc. for CCS configuration
- If you don’t have the CSP file please contact your TI representative
It is recommended that user refer to module specific user guide for detailed information on examples.
Connect the EVM to CCS through JTag(USB Port)
Connect to core Cortex_R5_0
Load the respective core binary
Connect UART USB cable to the UART terminal () and select UART1 serial port for viewing the UART logs and
giving user input. Select UART baud rate as 115200, 8-bit data, no parity and 1 stop bit as the serial port
settings
Run the application and follow the instruction on CCS console/UART console
