= Tms570 =


{{Infobox BSP
|BSP_name     = TMS570
|Manufacturer = Texas Instruments
|image        = TMS570LS31x_HDK_Kit.jpg
|caption      = TMS570LS31x HDK Kit
|Board_URL    = http://www.ti.com/tool/tmds570ls31hdk
|Dimensions   = 125 x 110 mm
|Architecture = ARM Cortex-R (big-endian)
|CPU_model    = Texas Instruments Cortex-R TMS570LS3137 microcontroller
|Power        = Powered by included adapter
|Aliases      = None
|RAM          = 256 kB ECC SRAM internal + 8 MB SDRAM
|NVMEM        = 3 MB ECC Flash
|Serial       = 1 x I2C, 3 x CAN, 1 x 2ch FlexRay, 2 x UARTs (1 with LIN), 3+2 x SPI
|NICs         = 10/100 Ethernet
|Other        = 2 x N2HET timing coprocessor, 2 x ADC
}}
= Warning =


'''BSP is Work in the Progress state now. Its development started as Premysl Houdek's GSoC 2014 project at [http://dce.fel.cvut.cz/katedra/organizacni-struktura/oddeleni-prumyslove-informatiky CTU FEE]'''

The TMS570 support has been included in RTEMS mainline sources ([http://git.rtems.org/rtems/commit/?id=4407ee675cb22e8bb870a76eafc590eb6e754315 commit]).

Development version of RTEMS with BSP sources is available from GitHub in tms570-bsp branch

 *  https://github.com/AoLaD/rtems/tree/tms570-bsp

The LwIP driver sources with TMS570 EMAC driver and RTEMS port included can be obtained from our other project repository

 * http://sourceforge.net/p/ulan/lwip-omk/ci/master/tree/

The application for testing of RTEMS with the LwIP port is included in our RTEMS OM template repository

 * http://rtime.felk.cvut.cz/gitweb/rtems-devel.git/tree/refs/heads/master:/rtems-omk-template/applwiptest

= Overview =


The TMS570LS3137 device is a high-performance automotive-grade microcontroller family for safety systems. The safety architecture includes the following:
= Features =

 *  Texas Instruments TMS570LS3137 MCU:
 * Dual CPUs in lockstep
 * CPU and memory Built-In Self-Test (BIST) logic
 * ECC on both the flash and the data SRAM
 * Parity on peripheral memories
 * Loopback capability on peripheral I/Os
= Tool-chain =


GCC 4.9.0 + Newlib 2.1.0 + Binutils 2.24 configuration

{{{
CFLAGS="-O2 -pipe" LDFLAGS=-s \
../../../src/gcc-4.9/configure --target=arm-rtems4.11 --prefix=/usr \
             --enable-languages=c,c++ \
             --disable-libstdcxx-pch \
             --with-gnu-ld \
             --with-gnu-as \
             --enable-threads \
             --enable-target-optspace \
             --with-system-zlib \
             --verbose \
             --disable-nls --without-included-gettext \
             --disable-win32-registry \
             --with-newlib \
             --enable-plugin \
             --enable-newlib-io-c99-formats \
             --enable-version-specific-runtime-libs \
             --enable-newlib-iconv \
             --disable-lto \
}}}

Next patches has been used during development to add Cortex-R and big-endian ARM support

 *  Enable big-endian multilib variant for GCC (included in GCC mainline now)
 * http://lists.rtems.org/pipermail/devel/2014-July/007244.html
 *  Newlib memchr ARM profile correction  (included in Newlib mainline now)
 * https://sourceware.org/ml/newlib/2014/msg00193.html
 *  RTEMS common Newlib sigaltstack patch applied
 * http://git.rtems.org/rtems-tools/plain/tools/4.11/newlib/newlib-sys-signal-20130532.diff

The first target is soft-float RTEMS Cortex-R support. Next GCC options are used

{{{
-mbig-endian -march=armv7-r -mthumb
}}}

for future hard float alternative

{{{
-mbig-endian -mthumb -march=armv7-r -mfpu=vfpv3-d16 -mfloat-abi=hard
}}}
= Execution =


We have not used any generic bootloader nor initial complex CPU and peripherals initialization
and self test is implemented and included in RTEMS BSP. We use simple Ti's HalCoGen generated
application to setup board and then download RTEMS image over OpenOCD to internal ECC SRAM or
external SDRAM. Setup application code is available there

 *  https://github.com/hornmich/tms570ls3137-hdk-sdram
= Debugging =


OpenOCD support with GDB and DDD frontend setup can be found there

 *  https://github.com/AoLaD/rtems-tms570-utils/tree/master/openocd
= Test Reports =


The hello world, ticker and most of the other tests are running from internal SRAM. There are some
issues for some of the tests when run from SDRAM. Running of test from Flash has been tested
as well. Tests has been linked to offset start address in this case to left setup code to run
before tests from Flash start.
= References =

 *  http://www.ti.com/tool/tmds570ls31hdk
 *  http://www.ti.com/product/tms570ls3137
 *  https://rtime.felk.cvut.cz/hw/index.php/TMS570LS3137