Texas Instruments TMS570LS Bedienungsanleitung

Application Report

Lit. Number –Month Year

Getting Started With TMS570LS Microcontrollers

Sunil Oak AEC-Automotive Microcontrollers

ABSTRACT

This application report provides a brief overview of the TMS570LS series of microcontrollers. It

describes the initialization procedure for the TMS570LS series of microcontrollers. The

document also shows code fragments from source files that are generated using the HALCoGen

tool. All code constructs used in this document are also defined in header files also generated by

the same utility.

Contents

1Block Diagram.................................................................................................................................3

2Overview of Features......................................................................................................................4

3Standard Initialization Sequence for TMS570LS Microcontrollers.............................................7

3.1 Enabling Floating Point Coprocessor (FPU) .............................................................................8

3.2 Initialization of Cortex-R4F Registers........................................................................................9

3.3 Initialize stack pointers for all CPU operating modes..............................................................11

3.4 Enable the Cortex-R4F CPU‟s Vectored Interrupt Controller (VIC) Port .................................12

3.5 Configure Flash Access ..........................................................................................................13

3.6 Configure flash bank and pump power modes........................................................................14

3.7 Configure PLLs........................................................................................................................17

3.7.1 FMzPLL.......................................................................................................................17

3.7.2 FPLL............................................................................................................................20

3.8 Enable Clock Sources.............................................................................................................22

3.8.1 Available Clock Sources on TMS570LS Microcontrollers ...........................................22

3.8.2 Control Registers for Enabling and Disabling Clock Sources......................................23

3.8.3 Example Clock Source Configuration..........................................................................24

3.9 Clock Domains........................................................................................................................25

3.9.1 Mapping Clock Domains to Clock Sources .................................................................26

3.9.2 Example Clock Domain Mapping ................................................................................27

3.9.3 Configuring VCLK and VCLK2 Frequencies................................................................27

3.10 Run CPU Self-Test..................................................................................................................29

3.11 Release Reset and Clocks to Peripherals...............................................................................30

3.12 Memories‟ Self-Test ................................................................................................................31

3.13 Memories‟ Auto-Initialization ...................................................................................................32

3.14 Vectored Interrupt Manager Configuration..............................................................................34

3.14.1 Example VIM RAM Configuration................................................................................34

3.14.2 Configure Interrupts to be Fast Interrupts or Normal Interrupts...................................36

3.14.3 Enabling Interrupts ......................................................................................................36

3.15 Additional Initializations Required by Compiler .......................................................................39

3.16 Call the Main Application.........................................................................................................39

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2Getting Started With TMS570LS Microcontrollers

Figures

Figure 1. Device Block Diagram........................................................................................................3

Figure 2. Flash Read Control Register: FRDCNTL, Address = 0xFFF87000...............................13

Figure 3. Flash Bank Fall-Back Control Register: FBFALLBACK, Address = 0xFFF87040 ......14

Figure 4. Flash Bank Access Control Register: FBAC, Address = 0xFFF8703C........................15

Figure 5. Flash Pump Access Control Register 1: FPAC1, Address = 0xFFF87048 ..................16

Figure 6. Flash Pump Access Control Register 2: FPAC2, Address = 0xFFF8704C..................16

Figure 7. FMzPLL Block Diagram ...................................................................................................17

Figure 8. PLL Control Register 1: PLLCTL1, Address = 0xFFFFFF70.........................................18

Figure 9. PLL Control Register 2: PLLCTL2, Address = 0xFFFFFF74.........................................19

Figure 10. FPLL Block Diagram ........................................................................................................20

Figure 11. PLL Control Register 3: PLLCTL3, Address = 0xFFFFE100.........................................21

Figure 12. Clock Source Disable Register: CSDIS, Address = 0xFFFFFF30 ................................23

Figure 13. Clock Source Disable Set Register: CSDISSET, Address = 0xFFFFFF34...................23

Figure 14. Clock Source Disable Clear Register: CSDISCLR, Address = 0xFFFFFF38...............24

Figure 15. GCLK, HCLK , VCLKx Source Register: GHVSRC, Address = 0xFFFFFF48...............26

Figure 16. Asynchronous Clock Source Register: VCLKASRC, Address = 0xFFFFFF4C ..........26

Figure 17. RTI Clock Source Register: RCLKSRC, Address = 0xFFFFFF50.................................27

Figure 18. Peripheral Clock Control Register: CLKCNTL, Address = 0xFFFFFFD0 ....................28

Figure 19. Memory Hardware Initialization Global Control Register: MINITGCR, Address =

0xFFFFFF5C......................................................................................................................32

Figure 20. Memory Self-Test / Initialization Control Register: MSIENA, Address = 0xFFFFFF6032

Figure 21. Memory Self-Test / Initialization Status Register: MSTCGSTAT, Address =

0xFFFFFF68......................................................................................................................33

Figure 22. VIM Interrupt Address Memory Map...............................................................................34

Figure 23. FIQ/IRQ Control Register 0: FIRQPR0, Address = 0xFFFFFE10 ..................................36

Figure 24. FIQ/IRQ Control Register 1: FIRQPR1, Address = 0xFFFFFE14 ..................................36

Figure 25. Interrupt Enable Set Register 0: REQENASET0, Address = 0xFFFFFE30 ..................37

Figure 26. Interrupt Enable Set Register 1: REQENASET1, Address = 0xFFFFFE34 ..................37

Figure 27. Interrupt Enable Clear Register 0: REQENACLR0, Address = 0xFFFFFE40...............37

Figure 28. Interrupt Enable Clear Register 1: REQENACLR1, Address = 0xFFFFFE44...............38

Tables

Table 1. Clock Sources on TMS570LS Microcontrollers.............................................................22

Table 2. Clock Domains on TMS570LS Microcontrollers............................................................25

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Getting Started With TMS570LS Microcontrollers 3

1Block Diagram

Figure 1 shows a high-level block diagram of the TMS570LS series microcontroller.

Figure 1. Device Block Diagram

Flash

2.0MB

with ECC

CRC

OSC

NHET

SYS

LIN2

MiBSPI1

DCAN1

OSCIN

OSCOUT

TRST

TMS

TCK

TDI

TDO

RST

PORRST

TEST

NHET[31:0]

LIN2RX

LIN2TX

MIBSPI1SIMO

MIBSPI1SOMI

MIBSPI1CLK

MIBSPI1SCS[3:0]

CAN1RX

CAN1TX

FLTP1

ECLK

MIBSPI3SIMO

MIBSPI3SOMI

MIBSPI3CLK

DCAN2 CAN2RX

CAN2TX

128 Words

128 Buffers

MIBSPI3SCS[3:0]

VIM

HET TU

8DCP

64 Messages

DMA

16 Channels

Primary SCR

ETM

ETMTRACECTL

ETMTRACECLKOUT CCM-R4

RTP

DMM

RTCK

RTPDATA[15:0]

RTPSYNC

RTPCLK

1Port

MIBSPI1ENA

with Parity

VCCP1

withParity

withMPU

ETMDATA[31:0]

MIBSPI3ENA

FLTP2

with MPU

RTPENA

8 Transfer

Groups

64 Channel

withParity

2Channel

Clock

Monitor

MiBSPI3

128 Buffers

with Parity

8 Transfer

Groups

Flexray

8k Byte

with Parity

FRAYRX1

FRAYTX1

FRAYTXEN1

FRAYRX2

FRAYTX2

FRAYTXEN2

DCAN3 CAN3RX

CAN3TX32 Messages

with Parity

RAM

160kB

with ECC

FMzPLL

Kelvin_GND

DAP

DMMENA

DMMSYNC

DMMCLK

DMMDATA[1:0] withParity

Periph Bridge

Cortex-R4F

Msg RAM

Flexray

with MPU

withParity

RTI

SCR

Note:

Priorities

SCR2 : round robin

SCR : round robin

SCR1 : 1=DMA, 2=DMM, 3=DAP

DMMDATA[15:2]*

MiBADC2

64 Words

with Parity

AD2IN[7:0]

AD2EVT

MiBSPIP5 MIBSPI5SIMO[3:0]*

MIBSPI5SOMI[3:0]*

MIBSPI5CLK*

MIBSPI5SCS[3:0]*

MIBSPI5ENA*

128 Buffers

with Parity

8 Transfer

Groups

32 Regions

with DMMDATA[15:2] pins

64 Words

with

ICEPick

2RAMblocks

ESM

ERROR

MiBADC1

64 Words

withParity

AD1IN[7:0]

VSSAD

ADREFHI

ADREFLO

AD1EVT

12Bit 12Bit

with MPU

Cortex-R4F

with MPU

GIO GIOA[7:0] /INT[7:0]

GIOB[7:0]

LIN1 LIN1RX

LIN1TX

STC

LBIST

EMIFADD[21:0]

EMIFDATA[15:0]

EMIFCS[3:0]

EMIFWE

EMIFOE

EMIF

EMIFBADD[1:0]

VCCAD

ADSIN[15:8]

*MIBSPIP5 pins are multiplexed

ETMTRACECLKIN

EMIFDQM[1:0]

SCR

PCR

FPLL

for Flexray

VMON

VccIO

Vcc

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4Getting Started With TMS570LS Microcontrollers

2Overview of Features

The TMS570LS series is a high-performance microcontroller family which has been certified for

use in IEC 61508 SIL3 safety systems.

The microcontrollers included in the TMS570LS Series are:

–TMS570LS20216

–TMS570LS20206

–TMS570LS10216

–TMS570LS10206

–TMS570LS10116

–TMS570LS10106

TMS570LS Series microcontrollers contain the following:

Dual ARM Cortex™-R4F processors operating in lock-step

–1.6 DMIPS/MHz

–CPU clock speeds up to 160MHz, providing up to 250 DMIPS

–Big-Endian

–Core-Compare Module (CCM-R4) to monitor lock-step operation

–Supports Built-In Self-Test (BIST)

Integrated Memory

–Up to 2MB Flash Memory

Non-volatile, electrically-erasable and programmable with 64-bit data bus interface

Single 3.3V supply needed for all read, program and erase operations

Connected to Tightly-Coupled Memory interface (TCM A) of the Cortex™-R4F CPU

Protects accesses with ECC (Single Error Correction Double Error Detection) logic

Supports accesses up to 160MHz in pipelined mode

–Up to 160KB SRAM

Supports single-cycle accesses at the maximum specified clock speed

Allows read/write accesses in byte, half-word (16 bits), and word (32 bits) sizes

Protects accesses with ECC (Single Error Correction Double Error Detection) logic

External Memory Interface (EMIF)

–Provides 8- or 16-bit interface to external asynchronous memories, 22 address lines

–Supports up to 4 chip selects

–Each chip select can address up to 32MB in 16-bit mode or 16MB in 8-bit mode

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Getting Started With TMS570LS Microcontrollers 5

TMS570 High-Performance Architecture for Safety-Critical Applications

–Consistent memory map across entire microcontroller family

–Real-Time Interrupt (RTI) for use as OS timer

Up to 6 configurable periodic interrupts

–Vectored Interrupt Manager (VIM)

Supports vectored interrupt controller (NVIC) port on the Cortex™-R4F CPU

Reduces interrupt latency even if NVIC port is not used

–2-Channel Cyclic Redundancy Checker (CRC)

Allows integrity checks for memories

Direct Memory Access (DMA) controller

–16 channels

–32 hardware requests configured by control packets

–Control packet information protected by parity error detection

–Built-in Memory Protection Unit (MPU) dedicated to prevent erroneous DMA transfers

Enhanced High-End Timer (NHET)

–Programmable timer coprocessor with its own assembly microcode

–128-word instruction memory with parity protection

–32 programmable channels for output compare or input capture functions

–Unused channels can be used as general-purpose I/O signals

–Dedicated transfer unit (HTU) with 8 programmable transfer configurations

–Control packet information protected by parity error detection

–Built-in Memory Protection Unit (MPU) dedicated to prevent erroneous HTU transfers

Analog-to-Digital Converters (ADC)

–Two 12-bit-resolution Successive Approximation Resistor A2D converters

–Dedicated memory to store up to 64 conversion results, with parity protection

–24 total input channels, 8 shared channels

Communication Modules

–Dual-channel FlexRay™ Controller

8 KB message RAM with parity protection

Dedicated transfer unit (FTU)

Parity protection for transfer unit configuration memory

Dedicated MPU to protect against erroneous transfers by FTU

–Three Multi-Buffered Serial Peripheral Interface (MibSPI) Controllers

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6Getting Started With TMS570LS Microcontrollers

4 chip selects and 1 enable for each MibSPI

128 transmit and receive buffers with parity protection for each MibSPI

One MibSPI supports unique parallel interface mode with up to 4-bit data

–Two Local Interconnect Network (LIN) Interface Controllers

Compliant to LIN specification version 2.0

Support the standard Serial Communication Interface (SCI) mode

–Three Controller Area Network (CAN) Controllers

Two controllers with 64 mailboxes, one controller with 32 mailboxes

Parity protection for mailbox memory

Trace and Calibration Interfaces

–Embedded Trace Macrocell (ETM-R4) for Cortex™-R4F

Provides trace for instruction and data accesses by the Cortex™-R4F CPU

–Parameter Overlay Module (POM)

Re-routes flash accesses to external memory via the EMIF

Allows application to update parameters without re-programming the flash

–Data Modification Module (DMM)

Provides ability to modify data anywhere within the 4GB addressable space

–RAM Trace Port (RTP)

Provides a high-speed trace of RAM accesses

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Getting Started With TMS570LS Microcontrollers 7

3Standard Initialization Sequence for TMS570LS Microcontrollers

A typical basic sequence to be followed for initialization and configuration of key features on the

TMS570LS Series microcontrollers is summarized below and detailed in the following sections.

This is not a mandatory sequence. Applications that are non-safety-critical can choose to not

use the ECC feature for flash and RAM accesses, for example.

Enable the Floating Point Unit (FPU) inside the Cortex-R4F CPU

Initialize the CPU registers and FPU registers

Initialize stack pointers for all operating modes

Enable CPU‟s dedicated vectored interrupt controller (VIC) port

Set up flash wrapper for required wait states and pipelined mode

Set up flash bank and pump power modes

Configure PLL control registers

Enable desired clock sources

Map device clock domains to desired clock sources

Run the Built-In Self-Test for the CPU

Release peripherals from reset and enable clocks to all peripherals

Run self-tests on all device memories using Programmable Built-In Self-test (PBIST)

Perform auto-initialization for all on-chip SRAMs

Program Vectored Interrupt Manager memory to map all interrupt service routine addresses

Configure IRQ / FIQ interrupt priorities for all interrupt channels

Enable the desired interrupts

Initialize copy table, global variables, and constructors

Call the main application

The following sections describe each of the above steps in more detail. Code examples are also

provided.

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8Getting Started With TMS570LS Microcontrollers

3.1 Enabling Floating Point Coprocessor (FPU)

The floating point coprocessor is disabled upon a CPU reset and must be enabled.

First access to the FPU must be enabled.

MRC p15, #0x0, r0, c1, c0, #2

MOV r3, #0xf00000

ORR r0, r0, r3

MCR p15, #0x0, r0, c1, c0, #2

MRC p15, #0x0, r0, c0, c0

Enable the FPU

MOV r0, #0x40000000

FMXR FPEXC, r0

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Getting Started With TMS570LS Microcontrollers 9

3.2 Initialization of Cortex-R4F Registers

The TMS570LS series of microcontrollers include dual Cortex-R4F CPUs running in a lock-step

operation mode. A Core Compare Module (CCM-R4) compares the output signals from each

R4F CPU. Any difference in the two CPUs‟ outputs is flagged as a fault of a high severity level.

The CPU internal core registers need to be initialized to a predefined state in order to prevent an

error from being flagged during system initialization.

Initialize CPU registers R0 through R12

mov r0, lr

mov r1, #0x03D0

mov r2, #0x0000

mov r3, #0x0000

mov r4, #0x0000

mov r5, #0x0000

mov r6, #0x0000

mov r7, #0x0000

mov r8, #0x0000

mov r9, #0x0000

mov r10, #0x0000

mov r11, #0x0000

mov r12, #0x0000

Initialize CPU banked registers

orr r13, r1, #0x0001

msr cpsr_cxsf, r13

msr spsr_cxsf, r13

mov lr, r0

mov r8, #0x0000

mov r9, #0x0000

mov r10, #0x0000

mov r11, #0x0000

mov r12, #0x0000

orr r13, r1, #0x0002

msr cpsr_c, r13

msr spsr_cxsf, r13

mov lr, r0

orr r13, r1, #0x0007

msr cpsr_c, r13

msr spsr_cxsf, r13

mov lr, r0

orr r13, r1, #0x000B

msr cpsr_c, r13

msr spsr_cxsf, r13

mov lr, r0

orr r13, r1, #0x0003

msr cpsr_c, r13

msr spsr_cxsf, r13

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10 Getting Started With TMS570LS Microcontrollers

Initialize the FPU registers

fmdrr d0, r1, r1

fmdrr d1, r1, r1

fmdrr d2, r1, r1

fmdrr d3, r1, r1

fmdrr d4, r1, r1

fmdrr d5, r1, r1

fmdrr d6, r1, r1

fmdrr d7, r1, r1

fmdrr d8, r1, r1

fmdrr d9, r1, r1

fmdrr d10, r1, r1

fmdrr d11, r1, r1

fmdrr d12, r1, r1

fmdrr d13, r1, r1

fmdrr d14, r1, r1

fmdrr d15, r1, r1

Initialize CPU return stack

bl $+4

bx r0

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