MCUSW
CAN Response Application

Table of Contents

Introduction

This application demonstrates the fast boot capability provided by the Octal SPI flash controller on Jacinto SoCs. The application performs the following actions:

  1. MCAL Can driver is hosted on MCU1_0.
  2. Transmit 64 byte CAN messages.
  3. Boot the main domain cores with a sample application image, to be provided by the user.

This facilitates an early CAN response feature, typically required in an automotive ECU, followed by booting of the main domain cores on the SoC.

Performance / Early CAN response

Please refer to the data sheets for early CAN response

Internal Dependencies

This application depends on multiple components:

  1. MCAL CAN Driver
  2. MCAL BSW Stubs Stubs at mcusw/mcal_drv/mcal/Bsw_Stubs are used. Functions CanIf_TxConfirmation () is required.
  3. MCAL Configurations CAN & DIO Configurations at mcusw/mcuss_demos/mcal_config are used.

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External Dependencies

This application depends on the Secondary Boot Loader (SBL) component from Processor SDK RTOS. For further details on the SBL, please refer to the Platform Development Kit (PDK) documentation on the SBL component for this release.

Flow Charts

The following flow chart displays the main application on the MCU1_0, which can spawn up to 2 current tasks.

canbootapp_main.png
MCU1_0 CAN Response Application

The following flow chart displays the functionality of the CAN task if the CAN function is set to "can_fast_response".

canbootapp_can_response_task.png
MCU1_0 CAN Response Task

The following flow chart displays the functionality of the Boot task, as well as the applications started on the main domain cores.

canbootapp_boot_task.png
MCU1_0 Boot Task and Main Domain Applications

The following flow chart displays the functionality of the Boot task when run along with BIST (as well as the applications started on the main domain cores). Note that the default build of this application disables the BIST thread shown below, and BISTFUNC flag must be enabled in the build for BIST to be run.

canbootapp_boot_task_plus_bist.png
MCU1_0 Boot Task with BIST and Main Domain Applications

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Compile Time Configurations for Boot Application

  1. Enable/Disable Boot Task
    The task that boots the main domain cores can be enabled/disabled. In the default boot sequence there are 3 stages for booting (J721E), (J721S2), (J784S4), or 2 stages (J7200). The specification of the cores to be included in each stage is given by the arrays "boot_order_first_stage", "boot_order_second_stage" and "boot_order_third_stage", found in mcuss_demos/boot_app_mcu_rtos/soc/$SOC/boot_core_defs.c. Below is the configuration flag for this feature.
    • BOOTFUNC
      Options are "enabled" (default) or "disabled".
  2. Enable/Disable BIST Task (J721E only) The task that runs Logic BIST and Memory BIST prior to boot stages can be enabled/disabled. In the default BIST sequence, there is one "pre-boot" stage (for BIST sections that need to be run before booting any of the main domain cores) and 3 main stages where BIST is run for main domain cores prior to the Boot Task booting those particular cores. The specification of the cores to be included in each stage is given by the arrays "pbist_pre_boot_stage", "lbist_pre_boot_stage", "pbist_first_boot_stage", "lbist_first_boot_stage", "pbist_second_boot_stage", "lbist_second_boot_stage", "pbist_third_boot_stage", and "lbist_third_boot_stage" in mcuss_demos/boot_app_mcu_rtos/soc/$SOC/bist_core_defs.c. Care should be taken to ensure that BIST sections defined for the 3 main stages (in bist_core_defs.c) match those utilized by the Boot Task (in boot_core_defs.c). Note that BOOTFUNC must be set to "enabled" as well to use the BIST Task. Below is the configuration flag for this feature.
    • BISTFUNC
      Options are "enabled" or "disabled" (default).

Compile Time Configurations for CAN fast response task

  1. Enable CAN transmit only mode
    In transmit-only mode, messages can be received if an external CAN utility, like the CANOE tool or the PEAK tool, are connected to the EVM board. However, this demonstration only uses the first instance, MCU_MCAN0. Below are the configuration flags associated with this feature.
    • CAN_TX_ONLY_MODE
      Enable TX-only mode (vs. RX-only mode).
      Options are "STD_ON" or "STD_OFF".
      CAN TX only configuration is present at mcusw/mcuss_demos/boot_app_mcu_rtos/can_resp.h (if using CAN Response task) AND mcuss_demos/boot_app_mcu_rtos/can_profile.h (if using CAN Profile task)
    • CAN_LOOPBACK_ENABLE Enable/Disable internal loopback mode.
      Options are "STD_ON" or "STD_OFF".
      CAN loopback configuration is present at mcusw/mcuss_demos/mcal_config/Can_Demo_Cfg/output/generated/soc/$SOC/mcu1_0/include/Can_Cfg.h
  2. Use first instance of CAN peripheral only
    Saves boot time by using only the first instance (MCU_MCAN0) of the CAN peripheral configured. Below is the configuration.
    • APP_INSTANCE_1_INST_IN_CFG_ONLY
      Use first instance of CAN peripheral only.
      Options are "STD_ON" or "STD_OFF".
      CAN configuration is present at mcusw/mcuss_demos/boot_app_mcu_rtos/can_resp.h (if using CAN Response task) AND mcuss_demos/boot_app_mcu_rtos/can_profile.h (if using CAN Profile task)

Customizing CAN response / CAN profiling examples

For TX Only Flag Value Location
APP_INSTANCE_1_INST_IN_CFG_ONLY STD_ON mcuss_demos/boot_app_mcu_rtos/can_resp.h AND mcuss_demos/boot_app_mcu_rtos/can_profile.h
CAN_LOOPBACK_ENABLE STD_OFF mcuss_demos/mcal_config/Can_Demo_Cfg/output/generated/soc/$SOC/mcu1_0/include/Can_Cfg.h
CAN_TX_ONLY_MODE STD_ON mcuss_demos/boot_app_mcu_rtos/can_resp.h AND mcuss_demos/boot_app_mcu_rtos/can_profile.h
Loopback Flag Value Location
APP_INSTANCE_1_INST_IN_CFG_ONLY STD_OFF mcuss_demos/boot_app_mcu_rtos/can_resp.h AND mcuss_demos/boot_app_mcu_rtos/can_profile.h
CAN_LOOPBACK_ENABLE STD_ON mcuss_demos/mcal_config/Can_Demo_Cfg/output/generated/soc/$SOC/mcu1_0/include/Can_Cfg.h
CAN_TX_ONLY_MODE X mcuss_demos/boot_app_mcu_rtos/can_resp.h AND mcuss_demos/boot_app_mcu_rtos/can_profile.h

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Test Setup / Configurations used

Loopback mode

  1. Supported EVM / SoC
    canbootapp_j721e_can_loopback_setup.png
    Loopback Setup

TX Only mode

  1. CAN_HIGH of all the nodes on the bus shall be connected together. Similary CAN_LOW of all the nodes on the bus shall be connected together.
    canbootapp_j721e_can_tx_setup.png
    TxOnly Setup
    canbootapp_j721e_can_tx_setup_closeup.png
    TxOnly Setup - Closeup
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Building dependent binaries

We need have the following binaries built from Platform Development Kit (PDK):

  1. sbl_boot_perf_cust_img that loads TIFS and initializes the OSPI flash.

Apart from the above binaries, we need to build the can_boot_app_mcu_rtos that the SBL copies from OSPI, and does the following:

  1. CAN loopback / transmit
  2. Boot the available main domain cores.

Building sbl_boot_perf_cust_img

Go to pdk/packages/ti/build and run the following w/ $board set accordingly:

make -j BOARD=$board CORE=mcu1_0 BUILD_PROFILE=release sbl_boot_perf_cust_img

NOTE: For Early CAN response with the fastest boot time, you can pre-configure the SBL flags before building sbl_boot_perf_cust_img by modifying the CUST_SBL_BOOT_PERF_TEST_FLAGS in the file pdk/packages/ti/boot/sbl/sbl_component.mk. Just search for this line and un-comment it (and comment out similar lines below it), then save and build sbl_boot_perf_cust_img.

Building can_boot_app_mcu_rtos

Go to mcusw/build and run the following w/ $board and $soc set accordingly:

make -s -j can_boot_app_mcu_rtos BOARD=$board SOC=$soc BUILD_PROFILE=release CORE=mcu1_0 BUILD_OS_TYPE=freertos

The output appimage "can_boot_app_mcu_rtos_mcu1_0_release.appimage" will be placed in mcusw/binary/can_boot_app_mcu_rtos/bin/$board directory.

Steps to run

Writing needed binaries to OSPI

To run the main domain applications on all the main domain cores, flash the following binaries in OSPI memory at the respective offsets (in hex) as given below:

J721E, J721S2, J784S4:

  1. pdk/packages/ti/boot/sbl/binary/{BOARD}/cust/bin/sbl_cust_img_mcu1_0_release.tiimage @ 0
  2. pdk/packages/ti/drv/sciclient/soc/V{X}/tifs.bin @ 80000
  3. mcusw/binary/can_boot_app_mcu_rtos/bin/{BOARD}/can_boot_app_mcu_rtos_mcu1_0_release.appimage @ 100000
  4. mcusw/mcuss_demos/boot_app_mcu_rtos/main_domain_apps/binary/bin/{BOARD}/multicore_MCU2_0_MCU2_1_stage1.appimage @ 1fc0000
  5. mcusw/mcuss_demos/boot_app_mcu_rtos/main_domain_apps/binary/bin/{BOARD}/multicore_DSPs_MCU3_0_MCU3_1_stage2.appimage @ 27c0000
  6. mcusw/mcuss_demos/boot_app_mcu_rtos/main_domain_apps/binary/bin/{BOARD}/multicore_MPU1_0_stage3.appimage @ 37c0000

NOTE: {BOARD} and {X} needs to be substituted accordingly.

J7200:

  1. pdk/packages/ti/boot/sbl/binary/j7200_evm/cust/bin/sbl_cust_img_mcu1_0_release.tiimage @ 0
  2. pdk/packages/ti/drv/sciclient/soc/V2/tifs.bin @ 80000
  3. mcusw/binary/can_boot_app_mcu_rtos/bin/j7200_evm/can_boot_app_mcu_rtos_mcu1_0_release.appimage @ 100000
  4. mcusw/mcuss_demos/boot_app_mcu_rtos/main_domain_apps/binary/bin/j7200_evm/multicore_MCU2_0_MCU2_1_stage1.appimage @ 1fc0000
  5. mcusw/mcuss_demos/boot_app_mcu_rtos/main_domain_apps/binary/bin/j7200_evm/multicore_MPU1_0_stage2.appimage @ 27c0000

Refer Uniflash Programming Guide to learn how to program the binaries at the respective offset in the flash.

Running the demonstration

  1. Ensure boot mode of the EVM is configured as described in (J721E/J7200 EVM OSPI Boot Mode)

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Sample output RTOS main domain apps, CAN Loop back mode

Below is the log for CAN Boot App (J721E) when CAN is configured in loop-back mode, and all main domain cores run some application: 

CAN Response App:NOTE : Operating in internal loop-back mode
CAN Response App:Message Id Received 800000c0 Message Length is 64
CAN Response App:Test completed for 0 instance

CAN Response App:NOTE : Operating in internal loop-back mode
CAN Response App:Message Id Received 800000b0 Message Length is 64
CAN Response App:Test completed for 1 instance

C OSPI NOR device ID: 0x5b1a, manufacturer ID: 0xCAN Response App: 8192 bytes used for stack
CAN Response App: 8192 bytes used for stack
CAN Response App:Early CAN completed!!!
Boot App: Started at 347 usec
Boot App: Total Num booted cores = 8
Boot App: Booted Core ID #6 at 294663 usecs
Boot App: Booted Core ID #7 at 294937 usecs
Boot App: Booted Core ID #8 at 311442 usecs
Boot App: Booted Core ID #9 at 311717 usecs
Boot App: Booted Core ID #10 at 312044 usecs
Boot App: Booted Core ID #11 at 312372 usecs
Boot App: Booted Core ID #12 at 312807 usecs
Boot App: Booted Core ID #0 at 319346 usecs

MCU Boot Task started at 345 usecs and finished at 1931335 usecs

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Known Issues

Document Revision History

Revision Date Author Description Status
0.1 16 Apr 2019 Somnath Initial Version Approved
0.2 8 Aug 2019 Sunil M S Updates logs for release 00.09.01 Approved
0.3 30 Jan 2020 Danny Jochelson New Version For TIRTOS Boot App Approved
0.4 4 Feb 2020 Jonathan Bergsagel Updated for CAN boot app CAN response compile options Approved
0.5 17 Feb 2020 Sujith S Re Organized the document Approved
0.6 28 May 2020 Jonathan Bergsagel Updated CAN boot app instructions for 7.0 SDK release Approved
0.7 22 Sept 2020 Danny Jochelson Updated CAN boot app to include BIST task, Updated Boot Task to show staged image parsing Approved
0.8 4 Nov 2020 Jonathan Bergsagel Updated instructions to include J7200 support, and new OSPI flash memory layout for images Approved
0.9 17 Nov 2020 Jonathan Bergsagel Removed prior issue on booting Linux. Boot App enables an optimized Linux boot flow Approved