F28M35x Workshop
Workshop Guide and Lab Manual
F28M35x-TTO
Revision 3.0
March 2014
Workshop Topics
Important Notice
Texas Instruments and its subsidiaries (TI) reserve the right to make changes to their products or
to discontinue any product or service without notice, and advise customers to obtain the latest
version of relevant information to verify, before placing orders, that information being relied on is
current and complete. All products are sold subject to the terms and conditions of sale supplied at
the time of order acknowledgment, including those pertaining to warranty, patent infringement,
and limitation of liability.
TI warrants performance of its semiconductor products to the specifications applicable at the time
of sale in accordance with TI’s standard warranty. Testing and other quality control techniques
are utilized to the extent TI deems necessary to support this warranty. Specific testing of all
parameters of each device is not necessarily performed, except those mandated by government
requirements.
Customers are responsible for their applications using TI components.
In order to minimize risks associated with the customer’s applications, adequate design and
operating safeguards must be provided by the customer to minimize inherent or procedural
hazards.
TI assumes no liability for applications assistance or customer product design. TI does not
warrant or represent that any license, either express or implied, is granted under any patent right,
copyright, mask work right, or other intellectual property right of TI covering or relating to any
combination, machine, or process in which such semiconductor products or services might be or
are used. TI’s publication of information regarding any third party’s products or services does not
constitute TI’s approval, warranty or endorsement thereof.
Copyright 2012 – 2014 Texas Instruments Incorporated
Revision History
December 2012 – Revision 1.0
May 2013 – Revision 2.0
March 2014 – Revision 3.0
Mailing Address
Texas Instruments
Training Technical Organization
6500 Chase Oaks Blvd Building 2
M/S 8437
Plano, Texas 75023
2
F28M35x Workshop
Workshop Topics
Workshop Topics
Workshop Topics ......................................................................................................................... 3
Workshop Introduction ................................................................................................................. 5
Outline ...................................................................................................................................... 5
Required Workshop Materials .................................................................................................. 6
The F28M35x ........................................................................................................................... 6
F28M35H52C1 Experimenter’s Kit .......................................................................................... 8
F28M35x Functional Block Diagram ........................................................................................ 9
Programming Development Environment .................................................................................. 10
Programming Model ............................................................................................................... 10
Code Composer Studio .......................................................................................................... 11
Software Development and COFF Concepts......................................................................... 11
Edit and Debug Perspective................................................................................................... 13
Target Configuration .............................................................................................................. 14
CCS Project and Build Options .............................................................................................. 15
CCSv5 Debug Environment ................................................................................................... 18
Dual Subsystem Debug ......................................................................................................... 20
Lab File Directory Structure ................................................................................................... 21
Lab 1: Dual Core Debug with F28M35x ..................................................................................... 22
Reset and System Initialization .................................................................................................. 35
Device Power and Reset........................................................................................................ 35
Master and Control Subsystem Boot ..................................................................................... 36
System Clock / PLL ................................................................................................................ 38
GPIO Multiplexer .................................................................................................................... 42
Architectural Overview – Master M3 Subsystem ....................................................................... 46
Architectural Block Diagram ................................................................................................... 46
Memory System ..................................................................................................................... 47
Interrupt System ..................................................................................................................... 53
External Peripheral Interface (EPI) ........................................................................................ 56
M3 Serial Communication ...................................................................................................... 57
Lab 2: Generating a Master M3 Subsystem Interrupt ................................................................ 63
Architectural Overview – Control C28 Subsystem ..................................................................... 66
Architectural Block Diagram ................................................................................................... 66
Memory System ..................................................................................................................... 67
Interrupt System ..................................................................................................................... 71
Viterbi, Complex Math, CRC Unit (VCU) ............................................................................... 72
ePWM Module ........................................................................................................................ 73
Lab 3: Generating a Control C28 Subsystem Interrupt .............................................................. 75
Analog Subsystem ..................................................................................................................... 79
Module Block Diagram ........................................................................................................... 80
Input Pin Connections ............................................................................................................ 81
Conversion Trigger ................................................................................................................. 82
Conversion Priority ................................................................................................................. 83
Interrupts ................................................................................................................................ 86
Clock Configuration ................................................................................................................ 86
Analog Comparators .............................................................................................................. 87
Lab 4: Capture ePWM waveform with ADC ............................................................................... 89
Inter-Processor Communications (IPC) ..................................................................................... 97
Shared SARAM and Message SARAM ................................................................................. 97
F28M35x Workshop
3
Workshop Topics
Interrupts and Flags ............................................................................................................... 99
IPC Data Transfer ................................................................................................................ 100
Lab 5: Data Transfer using IPC ............................................................................................... 102
Safety Features ........................................................................................................................ 107
Self Test Controller (STC) / Memory BIST ........................................................................... 107
Access Protection - Shared / Dedicated Memory ................................................................ 108
Error Detection and Correction ............................................................................................ 109
Register Protection ............................................................................................................... 111
Peripheral and Communication Verification ......................................................................... 111
Missing Clock Detection ....................................................................................................... 112
Other Resources – The Next Step… ....................................................................................... 113
C2000 MCU Multi-day Training Course ............................................................................... 113
controlSUITE™ .................................................................................................................... 113
Experimenter’s Kits .............................................................................................................. 114
Perpheral Explorer Kit .......................................................................................................... 114
controlSTICK Evaluation Tool .............................................................................................. 115
LaunchPad Evaluation Kit .................................................................................................... 115
Application Kits ..................................................................................................................... 116
C2000 Workshop Download Wiki ........................................................................................ 116
For More Information… ........................................................................................................ 117
Appendix – F28M35xx Experimenter’s Kit ............................................................................... 118
F28M35xx controlCARD ...................................................................................................... 119
Docking Station .................................................................................................................... 123
Notes: ....................................................................................................................................... 126
4
F28M35x Workshop
Workshop Introduction
Workshop Introduction
F28M35x Workshop
Technical Training Organization
C2000 is a trademark of Texas Instruments.
Copyright © 2014 Texas Instruments. All rights reserved.
Outline
Outline
Workshop Introduction
Programming Development Environment
Reset and System Initialization
Architectural Overview - Master M3 Subsystem
F28M35x Workshop
Lab 4: Capture ePWM waveform with ADC
Inter-Processor Communications (IPC)
Lab 3: Generating a Control C28 Subsystem Interrupt
Analog Subsystem
Lab 2: Generating a Master M3 Subsystem Interrupt
Architectural Overview - Control C28 Subsystem
Lab 1: Using Code Composer Studio with the F28M35x
Lab 5: Data Transfer using Inter-Processor Communications
Safety Features
Other Resources - The Next Step...
5
Workshop Introduction
Required Workshop Materials
Required Workshop Materials
http://processors.wiki.ti.com/index.php/
F28M35x_Workshop
F28M35H52C1
Install
Run
Experimenter’s Kit
Code Composer Studio v5.5.0
the workshop installer
F28M35x Workshop-3.0-Setup.exe
Lab
Files / Solution Files
Student
Guide and Documentation
The F28M35x
F28M35x - Best of Both Worlds
Real-Time Control
Connectivity
Interrupt
6
Single Device Combining a Real-Time Control
Subsystem with a Master MCU Subsystem
TI 32-bit F28x with Floating-Point Unit
ARM® 32-bit Cortex™ M3 MCU
Optimized subsystems reduce both hardware and
software complexity
Fast inter-processor communication reduces latency
Improved Safety – EDAC, Redundancy, and Security
F28M35x Workshop
Workshop Introduction
F28M35x = Control + Connectivity
Master Subsystem
Control Subsystem
Precision Control
• Industry leading
computational
performance
• Expanded instruction set
• Industry’s highestresolution PWMs
Shared
Control Subsystem
C28 32-bit CPU
VCU
Up to 150 MHz
Floating-Point
Unit
•
•
•
•
Viterbi
CRC
Complex MPY
FFT
ECC Flash
Comm
• McBSP/SPI/
• I2S
• UART
System
Analog
ARM® Cortex™
M3
128-bit Security
Fault Trip Zones
16 KB Parity RAM
6 x 32-bit eCAP
64 KB ROM
3 x 32-bit eQEP
32Ch DMA
4 Timers
Up to 100 MHz
2 Watchdogs
Memory
Parity RAM
9x ePWM Modules:
18x Outputs / 16x HR
System & Clocking
32-bit CPU
12b, 10ch, 2SH, 3 MSPS
3ch Analog Comparator
Communications
2 KB Message
2 KB Message
256-512 KB
Up to 64 KB
ECC Flash
10/100 Ethernet MAC
1588 w/ MII
16 KB ECC RAM
USB OTG FS PHY
Power & Clocking
2x128-bit Security
4x SSI
16 KB Parity RAM
5x UART
Control Modules
20 KB ECC RAM
Robust Communications
• Ethernet • CAN
• Fieldbus • Serial
• USB
Additional functions
• Natural user interface
• Motion profile
• Safety
Master Subsystem
Temp Sense
12b, 10ch, 2SH, 3 MSPS
3ch Analog Comparator
6Ch DMA
Memory
256-512 KB
Ecosystem for Developers
• Operating System
• Middleware
• SW Infrastructure
• Low-latency control
loops
• Real-world, modular
control software
• High-speed precision
analog
• Fine-tuned control
architecture
• 10 MHz / 30 KHz INT
OSC
• 4-20 MHz EXT
• Clock Fail Detect
• 3.3V VREG
• POR/BOR
64 KB ROM
2x I2C
External Interface
2x CAN
Broad C2000™ Control Application Base
Motor Control
Renewable Energy
E-bike
Power Tools
Wind Power Inverters
White Goods
Solar Power Inverters
Industrial Drives
& Motion Control
Lighting
Digital Power
DC/DC
Converters
C2000
LED Street Lighting
Uninterruptable
Power Supplies
Auto HID
Telecom / Server
AC/DC Rectifiers
Radar / Collision
Avoidance
Hybrid Electric Vehicles
Smart Metering
Power Line
Communication
Electric Power Steering
Laser Ranging
Automotive
2/27/2014
F28M35x Workshop
LED TV
Backlighting
RFID Readers
Optical
Networking
RF
Communication
Precision Sensing & Control
7
7
Workshop Introduction
F28M35H52C1 Experimenter’s Kit
F28M35H52C1 Experimenter’s Kit
Experimenter’s Kit includes:
Features:
Part Number: TMDXDOCKH52C1
F28M35H52C1 controlCARD
USB docking station
USB and Ethernet cables
Code Composer Studio
No external emulator required
Fully powered from USB
connection; no external power
supply needed
Access to controlCARD signals
Breadboard area
Standard 100-pin DIMM Interface
Analog I/O, digital I/O and JTAG
signals at DIMM interface
Full open source software
examples and hardware files for
download in controlSUITE
Available through TI authorized
distributors and the TI eStore
F28M35H52C1 controlCARD
SW2: ADC
VREF
On-board USB
JTAG Emulation
LED
LD4: ISO JTAG
PWR (green)
F28M35H52C1
J20:
Isolated
JTAG USB
Interface
(XDS100v2)
SW1: Boot
Modes
LEDs
LD1: Power (green)
LD2: PC6_GPIO71 (red)
LD3: PC7_GPIO70 (red)
Connectivity
Multiplexer
J4: MicroSD Card
Interface
J5:
Ethernet
RJ-45
Jack
J2:Micro-USB
(power)
Part Number: TMDXCNCD52C1
8
F28M35x Workshop
Workshop Introduction
F28M35x Functional Block Diagram
F28M35x Workshop
9
Programming Development Environment
Programming Development Environment
Programming Model
Programming Model: Header Files & API
Master M3 API Drivers
Control C28 Header Files
Software
Hardware Abstraction
Direct
use of
header
files
API Drivers
API Drivers
Bit Fields
Bit Fields
Registers and Addresses
Hardware
C functions automatically set
register bit fields
Common tasks and peripheral
modes supported
Reduces learning curve and
simplifies programming
C structures – Peripheral
Register Header Files
Register access whole or by
bits and bit fields are
manipulated without masking
Ease-of-use with CCS IDE
Registers and Addresses
Assembly language used to
program hardware registers
and access addresses
Programming Model: Comparison
Direct Register Access
//Interrupts set up
elsewhere
//Set duty cycle
MOVB
@9,#0x0F,UNC
//Set PWM1A on Zero Event
AND
AL,@11,#0xFFFC
ORB
AL,#0x02
MOV
@11,AL
Bit Field Header Files
interrupt void IsrAdc(void)
{
//Period of ePWM1 is set in
//init; Multiply period by
//desired duty to get CMPA
//value;
EPwm1Regs.CMPA.half.CMPA =
EPwm1Regs.TBPRD * duty;
}
API Driver
interrupt void IsrAdc(void)
{
/* set a new pwm value */
PWM_setDutyA(PWM_MODULE_2,
duty);
}
//Clear PWM1A on Up-count
//CompareA event
AND
AL,@11,#0xFFCF
ORB
AL,#0x10
MOV
@11,AL
10
Device support package includes documentation and examples
showing how to use the Bit Field Header Files or API Driver Library
Device support packages located at:
C:\TI\controlSUITE\device_support\
controlSUITE located at http://www.ti.com and enter “controlSUITE” in
the keyword search box
F28M35x Workshop
Programming Development Environment
Code Composer Studio
Code Composer Studio™ (CCS) is an integrated development environment (IDE) for Texas
Instruments (TI) embedded processor families. CCS comprises a suite of tools used to develop
and debug embedded applications. It includes compilers for each of TI's device families, source
code editor, project build environment, debugger, profiler, simulators, real-time operating system
and many other features. The intuitive IDE provides a single user interface taking you through
each step of the application development flow. Familiar tools and interfaces allow users to get
started faster than ever before and add functionality to their application thanks to sophisticated
productivity tools.
Code Composer Studio: IDE
Integrates: edit, code generation,
and debug
Single-click access using buttons
Powerful graphing/profiling tools
Automated tasks using Scripts
Based on the Eclipse open source
software framework
CCS is based on the Eclipse open source software framework. The Eclipse software framework
was originally developed as an open framework for creating development tools. Eclipse offers an
excellent software framework for building software development environments and it is becoming
a standard framework used by many embedded software vendors. CCS combines the
advantages of the Eclipse software framework with advanced embedded debug capabilities from
TI resulting in a compelling feature-rich development environment for embedded developers.
CCS supports running on both Windows and Linux PCs. Note that not all features or devices are
supported on Linux.
Software Development and COFF Concepts
In an effort to standardize the software development process, TI uses the Common Object File
Format (COFF). COFF has several features which make it a powerful software development
system. It is most useful when the development task is split between several programmers.
Each file of code, called a module, may be written independently, including the specification of all
resources necessary for the proper operation of the module. Modules can be written using CCS
or any text editor capable of providing a simple ASCII file output. The expected extension of a
source file is .ASM for assembly and .C for C programs.
F28M35x Workshop
11
Programming Development Environment
CCS – Software Development
Code
Simulator
Build
lnk.cmd
Compile
Asm
Editor
Link
Debug
Libraries
Graphs,
Profiling
Development
Tool
External
Emulator
MCU
Board
Code
Composer Studio includes:
Integrated
Edit/Debug GUI
Code Generation Tools
SYS/BIOS
CCS includes a built-in editor, compiler, assembler, linker, and an automatic build process.
Additionally, tools to connect file input and output, as well as built-in graph displays for output are
available. Other features can be added using the plug-ins capability
Numerous modules are joined to form a complete program by using the linker. The linker
efficiently allocates the resources available on the device to each module in the system. The
linker uses a command (.CMD) file to identify the memory resources and placement of where the
various sections within each module are to go. Outputs of the linking process includes the linked
object file (.OUT), which runs on the device, and can include a .MAP file which identifies where
each linked section is located.
The high level of modularity and portability resulting from this system simplifies the processes of
verification, debug and maintenance. The process of COFF development is presented in greater
detail in the following paragraphs.
The concept of COFF tools is to allow modular development of software independent of hardware
concerns. An individual assembly language file is written to perform a single task and may be
linked with several other tasks to achieve a more complex total system.
Writing code in modular form permits code to be developed by several people working in parallel
so the development cycle is shortened. Debugging and upgrading code is faster, since
components of the system, rather than the entire system, is being operated upon. Also, new
systems may be developed more rapidly if previously developed modules can be used in them.
Code developed independently of hardware concerns increases the benefits of modularity by allowing the programmer to focus on the code and not waste time managing memory and moving
code as other code components grow or shrink. A linker is invoked to allocate systems hardware
to the modules desired to build a system. Changes in any or all modules, when re-linked, create
a new hardware allocation, avoiding the possibility of memory resource conflicts.
12
F28M35x Workshop
Programming Development Environment
Edit and Debug Perspective
A perspective defines the initial layout views of the workbench windows, toolbars, and menus that
are appropriate for a specific type of task, such as code development or debugging. This
minimizes clutter to the user interface.
Edit and Debug Perspective
Each perspective provides a set of functionality
aimed at accomplishing a specific task
Edit Perspective
Displays views used
during code development
F28M35x Workshop
C/C++ project, editor, etc.
Debug Perspective
Displays views used for
debugging
Menus and toolbars
associated with debugging,
watch and memory
windows, graphs, etc.
13
Programming Development Environment
Target Configuration
A Target Configuration tells CCS how to connect to the device. It describes the device using GEL
files and device configuration files. The configuration files are XML files and have a *.ccxlm file
extension.
Creating a Target Configuration
14
File New Target
Configuration File
Select connection type
Select device
Save configuration
F28M35x Workshop
Programming Development Environment
CCS Project and Build Options
CCS works with a project paradigm. Essentially, within CCS you create a project for each
executable program you wish to create. Projects store all the information required to build the
executable. For example, it lists things like: the source files, the header files, the target system’s
memory-map, and program build options.
CCSv5 Project
Project files contain:
List of files:
Source (C, assembly)
Libraries
SYS/BIOS configuration file
Linker command files
Project settings:
Build options (compiler,
assembler, linker, and
SYS/BIOS)
Build configurations
To create a new project, you need to select the following menu items:
File New CCS Project
Along with the main Project menu, you can also manage open projects using the right-click popup
menu. Either of these menus allows you to modify a project, such as add files to a project, or
open the properties of a project to set the build options.
F28M35x Workshop
15
Programming Development Environment
A graphical user interface (GUI) is used to assist in creating a new project. The GUI is shown in
the slide below.
Creating a New CCSv5 Project(s)
File New CCS Project
M3
C28
Advanced Setting / Project Templates and Examples
Project options direct the code generation tools (i.e. compiler, assembler, linker) to create code
according to your system’s needs. When you create a new project, CCS creates two sets of build
options – called configurations: one called Debug, the other Release (you might think of as
optimize).
To make it easier to choose build options, CCS provides a graphical user interface (GUI) for the
various compiler and linker options. The following slide is a sample of the configuration options.
There is a one-to-one relationship between the items in the text box on the main page and the
GUI check and drop-down box selections. Once you have mastered the various options, you can
probably find yourself just typing in the options.
There are many linker options but these four handle all of the basic needs.
•
-o <filename> specifies the output (executable) filename.
•
-m <filename> creates a map file. This file reports the linker’s results.
•
-c tells the compiler to autoinitialize your global and static variables.
•
-x tells the compiler to exhaustively read the libraries. Without this option libraries are
searched only once, and therefore backwards references may not be resolved.
To help make sense of the many compiler options, TI provides two default sets of options (configurations) in each new project you create. The Release (optimized) configuration invokes the
optimizer with –o3 and disables source-level, symbolic debugging by omitting –g (which disables
some optimizations to enable debug).
16
F28M35x Workshop
Programming Development Environment
CCSv5 Build Options – Compiler / Linker
M3
C28
Separate build options for each project – M3 and C28
Compiler
Categories for code generation tools – controls many aspects
of the build process, such as:
Optimization level
Target device
Compiler / assembly / link options
Linker
Categories for linking – specify various link options
${PROJECT_ROOT} specifies the current project directory
Compiler Support for F28M35x
F28M35x
devices require Code
Composer Studio version 4.2.x or later
Devices have a two different cores;
different compilers must be used for
each core:
TMS470
Code Generation Tools
for ARM® Cortex™ M3 Master Subsystem
Version 5.0.1 or later
Used
C2000
Code Generation Tools
Used
for TI C28 Control Subsystem
Version 6.1.0 or later
F28M35x Workshop
17
Programming Development Environment
CCSv5 Debug Environment
The basic buttons that control the debug environment are located in the top of CCS:
The common debugging and program execution descriptions are shown below:
Start debugging
Image
Name
Description
New Target
Creates a new target configuration file.
Configuration
Debug
Opens a dialog to modify existing debug configurations. Its drop down can be used to access other
launching options.
Connect
Target
Connect to hardware targets.
Terminate All Terminates all active debug sessions.
18
Availability
File New Menu
Target Menu
Debug Toolbar
Target Menu
TI Debug Toolbar
Target Menu
Debug View Context Menu
Target Menu
Debug View Toolbar
F28M35x Workshop
Programming Development Environment
Program execution
Image
Name
Description
Availability
Halt
Halts the selected target. The rest of the debug
views will update automatically with most recent
target data.
Target Menu
Debug View Toolbar
Run
Resumes the execution of the currently loaded
program from the current PC location. Execution
continues until a breakpoint is encountered.
Target Menu
Debug View Toolbar
Run to Line
Resumes the execution of the currently loaded
program from the current PC location. Execution
continues until the specific source/assembly line is
reached.
Target Menu
Disassembly Context Menu
Source Editor Context Menu
Go to Main
Runs the programs until the beginning of function
main in reached.
Debug View Toolbar
Step Into
Steps into the highlighted statement.
Step Over
Steps over the highlighted statement. Execution
will continue at the next line either in the same
method or (if you are at the end of a method) it
will continue in the method from which the current
method was called. The cursor jumps to the declaration of the method and selects this line.
Target Menu
Debug View Toolbar
Target Menu
Debug View Toolbar
Step Return
Steps out of the current method.
Reset
Resets the selected target. The drop-down menu
has various advanced reset options, depending on
the selected device.
Target Menu
Debug View Toolbar
Restart
Restores the PC to the entry point for the currently
loaded program. If the debugger option "Run to
main on target load or restart" is set the target will
run to the specified symbol, otherwise the execution state of the target is not changed.
Target Menu
Debug View Toolbar
Assembly
Step Into
The debugger executes the next assembly instruction, whether source is available or not.
TI Explicit Stepping Toolbar
Target Advanced Menu
Assembly
Step Over
The debugger steps over a single assembly instruction. If the instruction is an assembly subroutine,
the debugger executes the assembly subroutine
and then halts after the assembly function returns.
TI Explicit Stepping Toolbar
Target Advanced Menu
F28M35x Workshop
Target Menu
Debug View Toolbar
19
Programming Development Environment
Dual Subsystem Debug
Launching Dual Subsystem Debug (1)
1st
subsystem
Clicking
(CCS Edit Perspective)
“Debug” button
-
will automatically:
Launch
the debugger
Connects to target
Programs flash memory
Note 2nd subsystem is disconnected
Next step will connect 2nd subsystem
Launching Dual Subsystem Debug (2)
2nd
subsystem
(CCS Debug Perspective)
-
In
Debug window right-click on emulator and
select “Connect target”
Highlight emulator and load program (flash)
Run
20
Load Load Program…
Both subsystems are connected
Next step is dual subsystem start-up sequence
F28M35x Workshop
Programming Development Environment
Dual Subsystem Debug Start-up
Start-up
1.
2.
3.
4.
5.
sequence
Reset C28 subsystem
Reset M3 subsystem
Run C28 subsystem
Run M3 subsystem
Stop and debug either subsystem
Debug
window controls “selected”
subsystem for the debug interaction
Highlight
appropriate subsystem for debug
Lab File Directory Structure
Lab File Directory Structure
Supporting Files and Libraries
Easier to make projects portable
${PROJECT_ROOT} provides
an anchor point for paths to files
that travel with the project
Easier to maintain and update
supporting files and libraries
Source Files are “Added” to
the Project Folder
Original Source Files
All modified files are in the
Project Folder
Original source files are
always available for reuse, if
a file becomes corrupted
Note: CCSv5 will automatically add ALL files contained in the folder where the project is created
F28M35x Workshop
21
Lab 1: Dual Core Debug with F28M35x
Lab 1: Dual Core Debug with F28M35x
Objective
The objective of this lab exercise is to become familiar with the Code Composer Studio (CCS)
development environment while using an F28M35x device (i.e. dual subsystem). Details on
setting up the target configuration, creating a new project, setting build options, and connecting to
the subsystems will be explained. A typical F28M35x application consists of two separate and
completely independent CCS projects without any linking between them. One project is for the
Master subsystem (M3), and the other project is for the Control subsystem (C28). A project
contains all the files needed to develop an executable output file (.out) which can be run on the
F28M35x device. In this lab exercise we will have the Master subsystem blink LED LD3 and the
Control subsystem blink LED LD2.
Lab1: Dual Core Debug with F28M35x
LED LD3
LED LD2
Use
Code Composer Studio (CCS) in dual
subsystem debug environment
Set
up target configuration
Create M3 project
Master
Create
subsystem blinks LED LD3 (software delay loop)
C28 project
Control
subsystem blinks LED LD2 (software delay loop)
Initial Hardware Set Up
Boot Mode Switch Settings
Note:
22
The F28M35xx ISO controlCARD boot mode must be configured to “Boot from M3
FLASH” for the workshop lab exercises. Set the “BOOT” controlCARD switch SW1 as
shown in the following table (see the Appendix for switch and jumper position details).
Position 1 /
PG2_GPIO34
Position 2 /
PG3_GPIO35
Position 3 /
PG7_GPIO47
Position 4 /
PG3_GPIO43
Boot Mode
Down – 1
Down – 1
Down – 1
Down – 1
M3 FLASH
F28M35x Workshop
Lab 1: Dual Core Debug with F28M35x
Connect USB cables to controlCARD
Using the two (2) supplied USB cables, plug the standard USB connectors into the computer USB
ports and the other ends to the controlCARD as follows:
•
•
The mini USB connector to J20 – isolated XDS100V2 JTAG emulation
The micro USB connector to J2 – board power
Initial Software Set Up
Code Composer Studio must be installed in addition to the workshop files. A local copy of the
required controlSUITE files is included with the lab files. This provides portability, making the
workshop files self-contained and independent of other support files or resources. The lab
directions for this workshop are based on all software installed in their default locations.
Procedure
Start Code Composer Studio and Open a Workspace
1. Start Code Composer Studio (CCS) by double clicking the icon on the desktop or selecting it
from the Windows Start menu. When CCS loads, a dialog box will prompt you for the
location of a workspace folder. Use the default location for the workspace and click OK.
This folder contains all CCS custom settings, which includes project settings and views when
CCS is closed so that the same projects and settings will be available when CCS is opened
again. The workspace is saved automatically when CCS is closed.
2. The first time CCS opens a “Welcome to Code Composer Studio v5” page appears. Close
the page by clicking the X on the “TI Resource Explorer” tab. You should now have an empty
workbench. The term workbench refers to the desktop development environment. Maximize
CCS to fill your screen.
The workbench will open in the “CCS Edit” perspective view. Notice the CCS Edit icon in the
upper right-hand corner. A perspective defines the initial layout views of the workbench
windows, toolbars, and menus which are appropriate for a specific type of task (i.e. code
development or debugging). This minimizes clutter to the user interface. The “CCS Edit”
perspective is used to create or build C/C++ projects. A “CCS Debug” perspective view will
automatically be enabled when the debug session is started. This perspective is used for
debugging C/C++ projects.
Setup Target Configuration
3. Open the emulator target configuration dialog box. On the menu bar click:
File New Target Configuration File
In the file name field type F28M35.ccxml. This is just a descriptive name since multiple
target configuration files can be created. Leave the “Use shared location” box checked and
select Finish.
4. In the next window that appears, select the emulator using the “Connection” pull-down list
and choose “Texas Instruments XDS100v2 USB Emulator”. In the “Board or Device” box
type F28M35 to filter the options. In the box below, check the box to select “F28M35H52C1”.
Click Save to save the configuration, then close the “F28M35.ccxml” setup window by
clicking the X on the tab.
5. To view the target configurations, click:
View Target Configurations
F28M35x Workshop
23
Lab 1: Dual Core Debug with F28M35x
and click the plus sign (+) to the left of “User Defined”. Notice that the F28M35.ccxml file is
listed and set as the default. If it is not set as the default, right-click on the .ccxml file and
select “Set as Default”. Close the Target Configurations window by clicking the X on the tab.
Create a New Project – M3 Master Subsystem
6. To create a new project for the M3 Master subsystem click:
File New CCS Project
In the Project name field type Lab1_M3. Uncheck the “Use default location” box. Click the
Browse… button and navigate to:
C:\F28M35x\Labs\Lab1\M3
Click OK.
7. The next section selects the device. Select the “Family” using the pull-down list and choose
“ARM”. Set the “Variant” filter using the pull-down list to “28M35x Concerto” and choose the
“F28M35H52C1” device. Leave the “Connection” box blank since we already set up the
target configuration.
8. Next, open the “Advanced setting” section and set the “Linker command file” to “<none>”.
We will be using our own linker command file, rather than the one supplied by CCS.
9. Then, open the “Project templetes and examples” section and select the “Empty Project”
template. Click Finish.
A new project has now been created. Notice the “Project Explorer” window contains
Lab1_M3. The project is set Active and the output files will be located in the Debug folder.
At this point, the project does not include any source files. The next step is to add the source
files to the project.
Add Files to Project – M3 Master Subsystem
Note:
The local copy of the supporting files and libraries in this workshop are identical to the
required controlSUITE files. The workshop lab exercises will make use of these files as
often as possible. When adding files to the project, a window will appear asking to “copy”
or “link” the files. Selecting “Copy files” will make a copy of the original file to work with in
the local project directory. Selecting “Link files” will set a reference to the original file and
will use the original file. Typically, “link files” is used when the files will not be modified.
To avoid accidently modifying the original files, we will use “copy files” throughout this
workshop and work with the local copy in the project directory.
10. To add the source files to the project, right-click on Lab1_M3 in the “Project Explorer” window
and select:
Add Files…
or click: Project Add Files…
Add (“copy files”) the following source files to the project:
a) File: startup_ccs.c
Folder: C:\F28M35x\Device_support\MWare\utils
24
F28M35x Workshop
Lab 1: Dual Core Debug with F28M35x
startup_ccs.c is used to call the C-runtime support library preparation function
“_c_int00” and to provide interrupt service routines for the M35x core.
b) File: F28M35H52C1_m3.cmd
Folder: C:\F28M35x\Device_support\MWare\cmd
F28M35H52C1_m3.cmd is used during linking to provide information about the physical
memory locations, logical code and data sections and how these sections are placed in
memory.
c) File: driverlib.lib
Folder: C:\F28M35x\Device_support\MWare\driverlib\ccs\Debug
driverlib.lib is a precompiled version of the MWare source code files in the folder
“driverlib”. This folder contains source and header files to initialize the M35x core and
peripherals based on MWare.
In the Project Explorer window, click the plus sign (+) to the left of Lab1_M3 and notice
that the files are listed.
M3 Project Build Options – Include Search Path
11. Setup the build options by right-clicking on Lab1_M3 in the “Project Explorer” window and
select “Properties”. We need to setup the include search path to include the MWare files.
Under “ARM Compiler” select “Include Options”. In the lower box that opens (“Add dir to
#include search path”) click the Add icon (first icon with green plus sign). Then in the “Add
directory path” window type:
${PROJECT_ROOT}/../../../Device_support/MWare
Click OK to include the search path. Finally, click OK to save and close the Properties
window.
Add M3 Function “main()”
Recall that the objective of this lab exercise is to have the M3 Master subsystem blink LED LD3
and the C28 Control subsystem blink LD2. The M3 function “main()” will need to execute the
basic M3 setup:
•
Initialize the clock system
•
Setup maximum FLASH performance
•
Enable M3 master interrupts
•
Setup GPIO_PIN 7 for output (LD3)
Finally, a “while(1) loop” with the control code will be used to toggle LD3 periodically. Normally to
accomplish this, the Technical Reference Manual for the M3 would be used to setup the
necessary registers and initialize them with the (hopefully) correct values. Since we have a
limited amount of time for this workshop, the function “main()” has been completed.
12. Add (“copy files”) the function “main()” source file to the project:
File: Lab1_M3.c
F28M35x Workshop
25
Lab 1: Dual Core Debug with F28M35x
Folder: C:\F28M35x\Labs\Source_files
13. Open and inspect Lab1_M3.c. Notice at the beginning of the file the required header files are
included. Although all of the header files are not needed for this first lab exercise, it is not a
problem to include them now for the following lab exercises. Recall that header files do not
occupy any memory space on the target:
At the beginning of function “main()” the clock unit is initialized, so that the M3 will run at
75 MHz and C28 will run at 150 MHz. Also, the protection system of the M3 is disabled:
Next, after function “FlashInit” is copied from FLASH to RAM it is called to optimize the
performance of the FLASH:
The function “FlashInit” is part of “driverlib.lib”. The source code of “FlashInit” can be
found in the “flash.c” file located in folder C:\F28M35x\device_support\MWare\driverlib
The next part of function “main()” will disable the watchdogs (not to be done in an actual real
world project), initialize the M3 Interrupts and GPIO_PIN_7 for the LED LD3:
26
F28M35x Workshop
Lab 1: Dual Core Debug with F28M35x
Finally the endless loop is entered to toggle LED LD3:
Build the Project and Program the Flash Memory
Two buttons on the horizontal toolbar control code generation. Hover your mouse over each
button as you read the following descriptions:
Button Name
1
2
Build
Debug
Description_____________________________________
Full build and link of all source files
Automatically build, link, load/program and launch debug-session
In CCS the on-chip flash programmer is integrated into the debugger. When the program is
loaded CCS will automatically determine which sections reside in flash memory based on the
linker command file. CCS will then program these sections into the on-chip flash memory.
Additionally, in order to effectively debug with CCS, the symbolic debug information (e.g., symbol
and label addresses, source file links, etc.) will automatically load so that CCS knows where
everything is in your code. Clicking the “Debug” button in the “CCS Edit” perspective view will
automatically launch the debugger, connect to the target, and program the flash memory in a
single step.
14. Click the “Build” button and watch the tools run in the “Console” window. Check for errors in
the “Problems” window. If you get an error, you will see the error message in the “Problems”
window. Expand the error by clicking on the plus sign (+) to the left of the “Errors”. Then
simply double-click the error message. The editor will automatically open to the source file
containing the error, with the code line highlighted with a question mark (?).
15. Program the flash memory by clicking the “Debug” button (green bug) or click RunDebug.
(If needed, when the “Progress Information” box opens select “Details >>” in order to watch
the programming operation and status). After successfully programming the flash memory
the “Progress Information” box will close.
The CCS Debug icon in the upper right-hand corner indicates that we are now in the “CCS
Debug” perspective view. The program ran through the C-environment initialization routine in
the run-time support library and stopped at “main()” in Lab1_M3.c. The blue arrow in the left
hand column of the source code window indicates the current position of the M3 program
F28M35x Workshop
27
Lab 1: Dual Core Debug with F28M35x
counter (PC). The “Debug” window reflects the current status of the two subsystems –
Cortex_M3_0 and C28xx_0.
Notice that the second subsystem (C28xx_0) is currently “Disconnected”. This means that
CCS has no control over this subsystem thus far; it is freely running from the view of CCS.
Of course the C28xx_0 is always under control of the Master subsystem and since we have
not executed an Inter Processor Communication (IPC) command yet, the C28xx_0 is stopped
by an “Idle” mode instruction in the Boot ROM.
Run the Code – Test the M3
Two buttons on the horizontal toolbar are commonly used to control program execution. Hover
your mouse over each button as you read the following descriptions:
Button Name
1
2
Resume
Suspend
Description_____________________________________
Run the selected target (F8)
Halt the selected target (Alt+F8)
16. Run the M3 code using the “Resume” button on the toolbar, or click Run Resume. LED
LD3 should be blinking at a period of approximately 1 second.
Inspect M3 Registers
Let us inspect the M3 registers for GPIO – Port C. As explained in the Technical Reference
Manual (spruh22), chapter 4.1.3.3.3 “Data Register Operation” the current value in port C register
GPIODATA can be read by a base address + mask offset access. The ‘1’ bits in the mask will
pass the current value of the corresponding bit-position into the result register (see Figure 4-3 of
spruh22):
In Figure 4-3 a mask offset of 0xC4 is used to read 3 bits (0, 4 and 5).
28
F28M35x Workshop
Lab 1: Dual Core Debug with F28M35x
In our lab exercise the base address for Port C GPIODATA is 0x40006000. To read all 8 bits we
have to use a mask offset of 0xFF<<2 = 0x3FC. The final address to watch register GPIODATA
is 0x400063FC.
17. Halt the M3 code using the “Suspend” button on the toolbar, or click Run Suspend.
18. Open a memory window (View Memory Browser) and enter address 0x400063FC:
19. Set two breakpoints at the for-loops in “main()” by double clicking in the line number field to
the left of the code line. Notice that line is highlighted with a blue dot indicating that the
breakpoint has been set. (Alternately, you can set a breakpoint on the line by right-clicking
the mouse and selecting Breakpoint (Code Composer Studio) Breakpoint):
20. Run the M3 code. The execution stops at one of the two breakpoints and the memory
browser shows the current value in GPIODATA to be either 0x00 or 0x80. Run again to
nd
reach the 2 breakpoint. The memory browser will show the toggle in bit position 7.
21. Delete the two breakpoints, again with a double click at the left column.
Running the Code – Stand-alone Operation (No Emulator)
22. The “Terminate” button will terminate the active debug session, close the debugger and
return CCS to the “CCS Edit” perspective view.
Click: Run Terminate or use the Terminate icon:
23. Disconnect the two USB connections (power and emulator) from the kit.
24. Re-connect the micro USB connector J2 to power the kit.
The M3 code will start immediately and LED LD3 should be blinking.
25. Now re-connect the mini USB connector J20 to the kit.
F28M35x Workshop
29
Lab 1: Dual Core Debug with F28M35x
Activate the C28 Control Subsystem
Now we are ready to create the second project for this exercise – the one for the C28 Control
subsystem. Before ending the M3 Master subsystem, this is a good time to edit the Lab1_M3.c
file. The M3 Master subsystem is responsible to release the C28 out of its “Idle” state in the Boot
ROM and to grant control for the LED LD2 to the C28 Control subsystem.
26. Open the Lab1_M3.c file and uncomment the “IPCMtoCBootControlSystem()” and the
“GPIOPinConfigureCoreSelect()” function calls:
27. Rebuild the project (“hammer” icon) and then program the modified code into the target
(green “bug” icon).
Create a New Project – C28 Control Subsystem
28. Switch to the “CCS Edit” perspective view by clicking the CCS Edit icon in the upper righthand corner.
29. Create a new project for the C28 Control subsystem by clicking:
File New CCS Project
In the Project name field type Lab1_C28. Uncheck the “Use default location” box. Click the
Browse… button and navigate to:
C:\F28M35x\Labs\Lab1\C28
Click OK.
30. The next section selects the device. Select the “Family” using the pull-down list and choose
“C2000”. Set the “Variant” filter using the pull-down list to “28M35x Concerto” and choose the
“F28M35H52C1” device. Leave the “Connection” box blank since we already set up the
target configuration.
31. Next, open the “Advanced setting” section and set the “Linker command file” to “<none>”.
We will be using our own linker command file, rather than the one supplied by CCS.
32. Then, open the “Project templetes and examples” section and select the “Empty Project”
template. Click Finish.
A new project has now been created. Notice the “Project Explorer” window contains
Lab1_C28. Click on the Lab1_C28 project. The project is set Active and the output files will
be located in the Debug folder. At this point, the project does not include any source files.
The next step is to add the source files to the project.
Add Files to Project – C28 Control Subsystem
33. Add (“copy files”) the following source files to the project by right-clicking on Lab1_C28 in the
“Project Explorer” window and selecting Add Files…
a) File: F28M35x_CodeStartBranch.asm
30
F28M35x Workshop
Lab 1: Dual Core Debug with F28M35x
File: F28M35x_SysCtrl.c
Folder: C:\F28M35x\Device_support\F28M35x_common\source
F28M35x_CodeStartBranch.asm contains a single branch instruction to the C-runtime
start function “_c_int00” and a label “code_start”, which is used by the linker.
F28M35x_SysCtrl.c defines two functions “InitFlash” and “InitSysCtrl”, which will be
called shortly.
b) File: F28M35x_GlobalVariableDefs.c
Folder: C:\F28M35x\Device_support\F28M35x_headers\source
F28M35x_GlobalVariableDefs.c defines all data memory mapped C28 peripheral
registers as global variables.
c) File: F28M35x_Headers_nonBIOS.cmd
Folder: C:\F28M35x\Device_support\F28M35x_headers\cmd
F28M35x_Headers_nonBIOS.cmd links all C28 registers to their physical addresses.
d) File: F28M35H52C1_c28.cmd
Folder: C:\F28M35x\Device_support\F28M35x_common\cmd
F28M35H52C1_c28.cmd links all code and data sections to physical memory. All nonvolatile sections are linked to the C28 FLASH.
In the Project Explorer window, click the plus sign (+) to the left of Lab1_C28 and notice
that the files are listed.
C28 Project Build Options – Include Search Path
34. Setup the build options by right-clicking on Lab1_C28 in the “Project Explorer” window and
select “Properties”. We need to setup the include search path to include the peripheral
register header files. Under “C2000 Compiler” select “Include Options”. In the lower box that
opens (“Add dir to #include search path”) click the Add icon (first icon with green plus sign).
Then in the “Add directory path” window type (one at a time):
${PROJECT_ROOT}/../../../Device_support/F28M35x_headers/include
${PROJECT_ROOT}/../../../Device_support/F28M35x_common/include
Click OK to include the search path. Finally, click OK to save and close the Properties
window.
Add C28 Function “main()”
Previously, we added an M3 function “main()” that is used to execute the basic M3 setup. Now
we need to add a C28 function “main()” to execute the basic C28 setup. Recall that the objective
of this lab exercise is to have the M3 Master subsystem blink LED LD3 and the C28 Control
subsystem blink LD2. The C28 function “main()” will need to:
•
Initialize the C28 subsystem
F28M35x Workshop
31
Lab 1: Dual Core Debug with F28M35x
•
Setup maximum FLASH performance
•
Setup GPIO_PIN 70 for output (LD2)
Finally, a “while(1) loop” with the control code will be used to toggle LD2 periodically. As in the
first part of this lab exercise, since we have a limited amount of time for this workshop, the
function “main()” has been completed.
35. Add (“copy files”) the function “main()” source file to the project:
File: Lab1_C28.c
Folder: C:\F28M35x\Labs\Source_files
36. Open and inspect Lab1_C28.c. At the beginning of the file the required header files are
included. In the function “main()” notice that “InitSysCtrl()” is called first to initialize the C28
subsystem, and then Pin GPIO70 is set as digital output:
After function “FlashInit()” is copied from FLASH to RAM it is called to optimize the performance
of the FLASH:
Finally the endless loop is entered to toggle LED LD2:
Build the Project and Program the Flash Memory
37. Click the “Build” button and watch the tools run in the “Console” window. Check for errors in
the “Problems” window (see the following note).
Note: When the project is built, the compiler will issue a warning about an unused variable.
This is caused by a software routine which makes a dummy read from a hardware register in
order to initialize the flash. The register contents are assigned to a local variable called 'temp'
and as the variable is not subsequently used in the code the compiler issues a warning that
the variable might be redundant. This is harmless and the warning can safely be ignored.
32
F28M35x Workshop
Lab 1: Dual Core Debug with F28M35x
DO NOT continue with the “Debug” button! The JTAG connection is still active from the
M3 project. We will use a different way to program the C28 Control subsystem.
38. Switch to the “CCS Debug” perspective view. The “Debug” window should reflect the current
status of the two subsystems – Cortex_M3_0 = connected, and C28xx_0 = disconnected:
39. Right click at the line “Texas Instruments XDS100v2 USB Emulator_0/C28xx_0” and select
“Connect Target”:
40. With the line “Texas Instruments XDS100v2 USB Emulator_0/C28xx_0” still highlighted, load
the program:
Run Load Load Program…
Browse to the file: C:\F28M35x\Labs\Lab1\C28\Debug\Lab1_C28.out and select OK
to load the program. The programming procedure will start to program the C28 flash
memory.
Dual Subsystem Debugging
41. In the “Debug” window left click on the line Texas Instruments XDSv2 USB
Emulator_0/C28xx_0 and then click the “Reset CPU” icon:
or by clicking Run Reset Reset CPU
42. Next in the “Debug” window left click on the line Texas Instruments XDSv2 USB
Emulator_0/Cortex_M3_0 and the click the “Reset CPU” icon.
43. In the “Debug” window highlight the C28 subsystem and run the code by clicking the Resume
icon (or F8). The C2x runs into an “Idle” instruction in the boot ROM code and waits for an
IPC command from the M3 subsystem.
44. Just for inspection, halt the C28 subsystem by clicking the Suspend icon (alt-F8). With a
Disassembly window open notice the program counter is pointing to the “Idle” instruction in
boot ROM:
F28M35x Workshop
33
Lab 1: Dual Core Debug with F28M35x
45. Now run the C28 Subsystem again (Resume icon or F8)
46. Next in the “Debug” window highlight the M3 subsystem and run the code (Resume icon or
F8). Both the C28 and M3 subsystems should now be running. The C28 subsystem is
controlling the blinking of LED LD2, and the M3 subsystem is controlling the blinking of LED
LD3. If you would like to stop, single step through the programs or set breakpoints for either
M3 or C28 subsystems, just highlight the corresponding subsystem in the “Debug” window
and apply the test command using the menu bar or the icon.
Running the Code – Stand-alone Operation (No Emulator)
At this point, the code for both the C28 and M3 subsystems has been programmed in their
respective flash memories. Recall the boot mode has been set as “Boot from Flash”.
47. The “Terminate” button will terminate the active debug session, close the debugger and
return CCS to the “CCS Edit” perspective view.
Click: Run Terminate or use the Terminate icon:
48. Disconnect the two USB connections (power and emulator) from the kit.
49. Re-connect the micro USB connector J2 to power the kit.
Both the M3 and C28 code will start immediately and both LED LD3 and LED LD2 should be
blinking.
50. Now re-connect the mini USB connector J20 to the kit.
End of Exercise
34
F28M35x Workshop
Reset and System Initialization
Reset and System Initialization
Device Power and Reset
Device Power and Reset
3.3V +/- 10%
(1.2V optional)
Digital
VREG/VMON
XRS
M3 WDT1
M3 WDT0
Device System Reset
Master System Reset
M3 NMI WD
M3 CPU
Missing Clock
(Software &
Debugger)
C28 NMI WD
Control System Reset
Analog Reset
AXRS
Analog VREG/VMON
C28
(Debugger
Reset)
The device has two voltage regulators and monitors – Digital VREG and Analog VREG.
The Digital VREG supplies the required voltages for the digital logic. The total device power must
meet package tolerances. If power usage is higher than package tolerances, then the user can
disable the digital regulator and supply an external 1.2V.
The Analog VREG supplies voltages to the analog modules. This regulator cannot be disabled.
Reset pins AXRSn and XRSn are always tied together external to the device. The types of resets
are:
1. Device Reset - this will reset the Master, Control and Analog modules. If the reset is
caused by an internal module, it is fed back out through the XRSn pin.
2. Master Subsystem Reset – resets the Master M3 CPU and Master subsystem
peripherals.
3. Control Subsystem Reset – resets the Control C28 CPU and peripherals affected by
XRSn pin but does not drive out on XRSn.
4. Analog Reset - reset to the analog modules of the device occurs as part of a device
reset.
The device reset is caused by:
•
•
•
•
XRSn pin (and AXRSn pin).
Digital voltage monitor and the analog voltage monitor.
M3 watchdog 0 and 1.
M3 NMI watchdog/missing clock detection.
Control subsystem reset is caused by:
F28M35x Workshop
35
Reset and System Initialization
•
•
•
•
A device system reset.
C28 NMI WD timeout/missing clock detection.
C28 debugger reset.
M3 software / debugger – this can be disabled if desired.
Master subsystem is reset by any device reset and can be reset by software or the M3 debugger.
Master and Control Subsystem Boot
Master Subsystem Boot
Reset
M3 begins execution
Basic device config
C28 enters idle and waits for
an IPC command from M3
application code
Release C28 and
Analog from reset
WIR
?
EMU0/1 Pins
No
Flash or serial boot
determined by
state of GPIO pins
Yes
UART0
Flash
SSIO
(Default)
I2C0
CAN
RAM
M3 boot ROM flow
The M3 is the master for the boot process.
At reset, the M3 will begin execution. The rest of the device will stay in reset until reset is
released by the M3 boot ROM. This includes the C28 Control subsystem and the Analog
Common Interface Bus (Analog CIB). After being released from reset, the C28 simply performs
some basic setup and then goes into the idle mode and waits for further instructions via an IPC
command, discussed in the next slide.
The wait in reset (WIR) mode is entered by the state of the EMU0/EMU1 pins. Wait in reset will
keep the M3 from continuing execution until an emulator is connected.
The boot mode, flash or serial, is determined by the state of GPIO pins. If the boot is to a serial
port, then the code is downloaded from the peripheral to RAM and then execution is passed to
the downloaded code. If the boot is to the flash, then execution is transferred to the entry point of
the flash.
36
F28M35x Workshop
Reset and System Initialization
Control Subsystem Boot
Reset
M3 Boot ROM
releases the C28 reset
Release
from
M3?
No
Reset held
C28 boot ROM flow
Yes
WIR
?
No
Setup PIE for IPC
commands
EMU0/1 Pins
Yes
Enter IDLE mode
IPC
?
M3 application sends
IPC command:
No
Stay in idle
Boot to SCI/SPI/I2C,
RAM, Flash
Yes
Wakeup
Respond to IPC message
Boot as requested by M3
application
When the C28 CPU is released from reset, it will read the state of the EMU0/1 pins and if the
state of the pins indicate wait in reset (WIR) mode, then it will sit in a loop continuously reading
the state of the EMU0/1 bits.
The C28 sets up the PIE to handle MTOCIPCINT1. After booting, the M3 application will take
over execution on the master subsystem. This application code sends IPC commands to tell the
C28 what it should do next. All other interrupts in the PIE are disabled or ignored. The IPC
message handlers at this point are within the boot ROM of the C28 Control subsystem. An API
supplied by TI makes using the boot IPC commands easy.
F28M35x Workshop
37
Reset and System Initialization
System Clock / PLL
System Clock / PLL
PLLSYSCLK
150 MHz Max
/1
/2
/1
OSCCLK
System
PLL
/2
0*
/2
1
/4
XPLLCLKOUT Pin
/4*
100 MHz Max
/1
Master (M3)
Subsystem
/2
/8*
/4*
150 MHz Max
M3 Read/Write
C28 Read Only**
/1
on*
0
off
Control (C28)
Subsystem
M3 Read/Write
0
XTAL
X1
X2
0*
1
off
XTAL OSC
XCLKIN
X1/X2 Ext. XTAL 4 – 20 MHz
X1 Ext. CLK source up to 30 MHz
/1
37.5 MHz Max
/2
Analog
/4
/8*
C28 Read/Write
* Default at reset
** Semaphore request write
OSCCLK – the source to generate the system clock using X1 or X1/X2:
•
•
X1: external single-ended clock source up to 30MHz.
X1/X2: external crystal (4-20MHz) or resonator.
System PLL - configuration of the System PLL clock (PLLSYSCLK):
•
•
•
PLL control (bypass, multiplier, on/off) and divider from PLL output.
Configured by the M3. The C28 can also freely read these values.
The C28 can request write control to the PLL multiplier and diver by using the clock
control semaphore. Typically this is only used for flash programming during development
(e.g. via Code Composer Studio)
PLLSYSCLK dividers configured by the M3 Master ONLY:
•
•
•
•
Divider from PLLSYSCLK to XPLLCLKOUT Pin
Divider from PLLSYSCLK to the Master communications subsystem. This clock is known
as M3SSCLK and can be /1, /2 or /4 of the PLLSYSCLK. The divider must be configured
to result in a Master subsystem (M3SSCLK) clock of 100 MHz or less.
There is no divider from PLLSYSCLK to the Control subsystem. The C28 CPU executes
at the same rate as PLLSYSCLK and can be a maximum of 150MHz.
The M3 can, however, enable/disable the clock to the control subsystem. This can be
done to save power.
PLLSYSCLK divider configured by the C28x ONLY:
•
38
The Analog and the Control subsystem are related. Thus the divider from the PLL to the
analog modules is controlled by the C28. The ADCCLK can be turned off, or configured
for /1, /2…/8 of the PLLSYSCLK. This divider must be configured to result in an
ADCCLK of 37.5 MHz or less.
F28M35x Workshop
Reset and System Initialization
Example clock configurations are described on the following slide:
System Clock Configurations
Maximum Frequencies
C28 MHz
CLKIN
M3 MHz
M3SSCLK
Analog MHz
ADCCLK
ADC MSPS
ADCCLK/13
EPI MHz
M3SSCLK/2
150.0
100.0
37.5
2 x 2.885
50.0
C28 MHz
M3 MHz
Analog MHz
150.0 (/1)
150.0 (/1)
75.0 (/2)
75.0 (/2)
37.5 (/4)
37.5 (/4)
Possible Combinations
150.0
ADC MSPS
EPI MHz
2 x 2.885
18.75
37.5
18.75 (/8)
2 x .480
100.0
100.0 (/1)
25.0 (/4)
2 x 1.923
50.0
60.0
60.0 (/1)
30.0 (/2)
2 x 2.308
30.0
API Example:
// Sets up PLL, M3 running at 75MHz and C28 running at 150MHz
SysCtlClockConfigSet(SYSCTL_USE_PLL | (SYSCTL_SPLLIMULT_M & 0xF) |
SYSCTL_SYSDIV_1 | SYSCTL_M3SSDIV_2 | SYSCTL_XCLKDIV_4);
C28 CLKIN == PLL System Clock
Recall the maximum Control subsystem clock is 150MHz, the maximum master subsystem clock
is 100MHz, and the ANALOG SYSCLK is limited to 37.5 MHz. The last two columns show the
possible ADC and EPI performance at these maximum frequencies.
Users will select clock divisors for the M3SSCLK and the Analog SYSCLK to always meet these
maximum timings. Remember there is no divider on the C28x clock; it is the same as
PLLSYSCLK.
nd
The 2 table explains the possibilities for three configurations: (1) maximum C28 system, (2)
maximum M3 system, and (3) low end MIPs system.
Row 1: The maximum C28 frequency system starts with C28 of 150MHz.
•
•
If the M3 clock is set to /1 this will not work since 150 is above the M3 maximum
frequency. If the M3 clock is configured as /2 then this will work since 75MHz is less than
the maximum M3 clock. The M3 clock could also be set to /4 to yield a 37.5 MHz M3
clock.
The Analog clock divider cannot be set to /1 (150 MHz) or /2 (75 MHz) because both are
higher than the maximum Analog SYSCLK. The divider can be set to /4 (37.5 MHz) or
set to /8 because these are both less than or equal to the maximum Analog SYSCLK.
Row 2: The maximum M3 frequency system has the maximum M3 system clock of 100MHz.
•
•
Recall the M3 clock this is a divider off of PLLSYSCLK == C28x SYSCLKOUT. The
Control subsystem must also run at 100 MHz and M3 clock divider must be /1 to. This
results in the Master subsystem running at its maximum frequency of 100MHz.
The Analog clock divider cannot be set to /1, /2 because this will violate the maximum
Analog SYSCLK rate. The highest it can be set is /4 (it can also be set to /8 if desired).
F28M35x Workshop
39
Reset and System Initialization
Row 3: Low end MIPs system. In this case the whole system is run at a slower frequency:
60MHz C28 clock, 60MHz M3 clock, and 30.0 MHz Analog SYSCLK. The M3 could be divided
down further to 30MHz if desired. Likewise the Analog SYSCLK could be reduced to (/4) or (/8).
Master Subsystem Clocking
M3 Read/Write
OSCCLK
WDT1
M3SSCLK
M3 CPU
Clock Enables
M3
Peripherals
Run-Mode
Sleep-Mode
Deep Sleep-Mode
SSI, UART
GPIO, EMAC…
0*
OSCCLK
1
GPIO_XCLKIN
CAN0,
CAN1
2
OSCCLK
GPIO_XCLKIN
Bit Clock
0*
USB
1
PLL
0*
60 MHz
USB
1
* Default at reset
All of the configurations shown on the slide above are performed by the M3 Master subsystem.
M3SSCLK (M3 subsystem clock) is the main clock for the Master subsystem for the M3 CPU and
most of the M3 related peripherals such as UARTs, EMAC, GPIO, SSI, I2C, GPT. Recall that the
maximum frequency for this clock is 100 MHz. Other peripherals are clocked as follows:
Watchdog timer 1 is clocked from a different clock domain - OSCCLK (from X1/X2 pins) - which is
important for safety.
GPIO_XCLKIN is multiplexed on GPIO63. This clock can ONLY be used as a source to the USB
or CAN modules
CAN:
•
•
•
CAN is susceptible to clock jitter at higher bit rates.
Allows a more accurate and stable bit clock to be selected.
If the application uses a spread spectrum system clock the user can select an alternative
clock and thus will not compromise communications.
USB:
•
•
USB has its own PLL which can supply 60MHz to the peripheral. This allows USB to be
independent of the system clock ratios used by the rest of the system.
If GPIO_XCLKIN is used to clock the USB, then it is limited to 60 MHz.
Clocks to peripherals can be disabled/enabled to conserve power when modules are not in use or
when in low-power modes.
40
F28M35x Workshop
Reset and System Initialization
Control Subsystem Clocking
C28 Read/Write
Clock Enables
M3 Read/Write
PLLSYSCLK
on*
off
C28
CPU
SYSCLKOUT
0
LSPCLK
NMI WD
ePWM
eCAP
eQEP
GPIO
I2C
…
McBSP, SCI, SPI
SOC Pin
HSPCLK
SOC Pulse
* Default at reset
In the M3 read/write section, the M3 Master can turn off the clock to the Control subsystem to
save power. Everything else on the above slide is configured by the C28 Control subsystem.
In the C28 only read/write section, the clock enables allow the C28 to turn off clocks to modules
that are not being used to save power. The Control subsystem clocking is similar to Delfino and
Piccolo C2000 class devices.
SYSCLKOUT is a maximum of 150 MHz. It clocks the C28 CPU, control peripherals (PWM,
capture, HRPWM, QEP), I2C, CPU Timers, GPIO, DMA, and the NMI watchdog.
The Low Speed Clock (LSPCLK) clocks all serial ports except I2C. LSPCLK is a ratio of
SYSCLKOUT (equal, /2, /4, /6…. /12)
The High Speed Clock (HSPCLK) is a ratio of SYSCLKOUT (equal, /2, /4… /14). It is used to
control the width of an external SOC (start of conversion) pulse. This pulse is generated from the
ePWM logic.
F28M35x Workshop
41
Reset and System Initialization
GPIO Multiplexer
GPIO Multiplexer Overview
C28 Read/Write
Control
Mux
System
C28 DAT
M3 Read/Write
M3 assigns each pin to Master (default) or Control
Subsystem – assignment is then locked for safety
Master
Mux
System
(default)
• •1
0
PWM Trip
Low Power
Open
Drain
Input
Qualification
M3 controls enable/disable
of pull-ups and open drain
even if assigned to C28
•
•
•
Pin
There are two multiplexer systems on F28M35x – one on the M3 subsystem and one on the C28
subsystem. At reset all of the GPIO pins belong to the M3 multiplexer system.
The M3 is responsible for allocating pins to the C28 multiplexer system. Once the pins have
been allocated, the assignment can be locked for safety. The next three slides will go into each
multiplexer system in more detail.
The input always goes to the C28, even if the pin is assigned to the M3 multiplexer system. This
means the M3 cannot block inputs to the C28 which is important for signals like trip inputs to the
ePWM modules. The C28 can also read the pin state in its DAT (data) register even if it is
configured for the M3 multiplexer system.
The input qualification for C28 is compatible with Delfino and Piccolo devices:
•
•
•
Async (no qualification)
Sync to C28 SYSCLKOUT
Sync to C28 SYSCLKOUT + filter
Pull-up and open drain – only the M3 can enable/disable pull-ups, and control if a pin is opendrain or not, even if the pin is assigned to the C28 multiplexer system. Pull-ups are disabled on
reset. Open drain is available on all GPIO outputs.
Note: The following I/O features are not supported on the F28M35x: I/O drive, slew-rate and pulldowns.
42
F28M35x Workshop
Reset and System Initialization
GPIO Multiplexer Assignment
Multiplexer
options are based on
subsystem assignment
Pin
If assigned to the
Master Subsystem
If assigned to the
Control Subsystem
GPIO4
M3
GPIO
SSIORX
CAN0RX
U1DSR
C28
GPIO
EPWM3A
GPIO5
M3
GPIO
SSIOTX
CAN0TX
U1RTS
C28
GPIO
EPWM3B
API Example:
// Give C28 control of Port C pin 6
GPIOPinConfigureCoreSelect(GPIO_PORTC_BASE, 0x40, GPIO_PIN_C_CORE_SELECT);
Which peripherals are available on a particular pin first depends on whether the pin has been
assigned to the Master subsystem (default) or the Control subsystem. Only the M3 can assign
pins to either system. Once the assignment is made it can be locked by the M3 for safety.
Master subsystem peripherals are only available if the pin is assigned to the master multiplexer.
This is the default assignment at reset. Likewise, Control subsystem peripherals are only
available if the pin is assigned to the Control subsystem multiplexer.
As an example, consider pins GPIO4 and GPIO5. If these pins are assigned to the Master
subsystem, then the M3 can configure the pin to be an M3 GPIO or SSI, CAN or UART pin. If
these two pins are instead assigned to the Control subsystem, then the C28 will configure
whether the pin is a C28 GPIO or the EPWM3A or 3B output.
In summary:
•
•
•
Only M3 GPIO and Master subsystem peripherals are available on the Master subsystem
multiplexer.
If the pin is to be used as an EPWM or C28 GPIO, then it should be assigned to the
Control subsystem.
Only C28 GPIO and Control subsystem peripherals are available on the Control
subsystem multiplexer.
The next two slides will show the multiplexing within each of the subsystems.
F28M35x Workshop
43
Reset and System Initialization
Master GPIO Multiplexer Subsystem
Primary Pin Mapping
Peripheral
1
Peripheral
0
Alternate Pin Mapping
• • • ••
•Peripheral
• • •••
•15
0•
Peripheral
13
Peripheral
12
15
Peripheral
15
• • 14
•15
12•
1
13
GPIOPCTL
GPIOPCTL
• •1
0
M3 Interrupt
NIVC
GPIODATA
GPIODIR
Peripheral
14
• •1
0
GPIOAPSEL
GPIOAMSEL
GPIO or Peripheral
M3 Read/Write
This slide shows how the M3 can configure a pin that has been assigned to the Master
subsystem multiplexer. All of the configurations on this slide are performed by the M3.
GPIO – the M3 then selects if the pin should be a M3 GPIO or if it should be connected to a
peripheral function. The GPIO selection is the default. If the pin is configured to be a GPIO, then
it will be routed to the M3 data and direction registers as well as the interrupt control logic that
feeds the NVIC.
Peripheral – if the pin is configured to be a peripheral function, then the M3 will select which of
the available peripherals will be connected. Note, only peripherals that can be used by the M3
are available to the Master multiplexer subsystem (i.e. no Control subsystem peripherals are
available).
Flexible Multiplexer Pin Mapping – for a peripheral function two multiplexer schemes are
provided. The primary (default) multiplexer mapping on the Mater subsystem provides
compatibility with Tiva™ devices. To gain additional pin-mapping flexibility the user can select an
alternate mapping. This alternate mapping is similar to existing C2000 devices.
Note: The pin can be enable/disabled (not shown on this slide). If it is enabled, but assigned to
the C28 multiplexer, then the M3 can still read the state of the pin.
44
F28M35x Workshop
Reset and System Initialization
Control GPIO Multiplexer Subsystem
Peripheral
1
GPxSET
GPxCLEAR
GPxTOGGLE
GPxDAT
I/O DAT
Bit (R/W)
Peripheral
2
Peripheral
3
GPxDIR
Out
In
• •2
•3
0•
1
GPxMUX1
GPxMUX2
GPIO 0-63
PWM Trip
GPTRIPxSEL
Low Power GPIOLPMSEL
GPxQSEL1
Input
Qualification GPxQSEL2
GPxCTRL
C28 Read/Write
If a pin is assigned to the C28 multiplexer system then the C28 has free use of the pin. Note that
even in this case, the C28 will not be able to control the pull-up or the open drain enable/disable –
this is an M3 only operation.
Only peripherals available to the C28 are available in the peripheral multiplexer of the Control
subsystem. The mapping of peripherals is compatible to current C2000 devices.
Input Qualification is also compatible with Delfino and Piccolo devices:
•
•
•
Async (no qualification)
Sync to C28 SYSCLKOUT
Sync to C28 SYSCLKOUT + filter
Additionally, GPIO0-63 can be configured as TRIP to ePWMs, inputs to eCAP and interrupt 1-3.
This provides more flexibility than in previous C2000 devices.
F28M35x Workshop
45
Architectural Overview – Master M3 Subsystem
Architectural Overview – Master M3 Subsystem
Architectural Block Diagram
The F28M35x Master subsystem is based on Cortex-M3 core which is a 32-bit machine. It
features a Harvard architecture characterized by separate buses for instruction and data.
The Cortex-M3 supports 32-bit words, 16-bit half words, and 8-bit bytes. The processor also
supports 64-bit data transfer instructions. All instruction and data memory accesses are little
endian.
M3 Master Subsystem Architecture
EPI
I2C (2)
M3 GPIO MUX
SSI (4) UART (5) CAN (2) USB
EMAC
Peripheral APBx/AHBx Bus's
uCRC System Control Timers (4) Watchdogs (2)
System
Bus
Bridge
uDMA
Inter Vect
(NVIC)
Cortex-M3
MPU
uDMA AHB-Lite Bus
M3 CPU Sbus AHB-Lite
MSG
RAMs
2x 2KB
Dedicated
RAM
2 x 8KB
Secure
Dedicated
RAM
2 x 8KB
FLASH
512 KB
Boot
ROM
MUX
Logic
JTAG
ICODE/DCODE AHB-Lite
Shared RAM
Blocks
8 x 8KB
Mapped to
M3 or C28
128-bit Dual-Security
Harvard
architecture
Privileged access and user access
Little-endian format
The Cortex-M3 processor integrates hardware support for interrupts through its nested interrupt
controller (NVIC).
The Memory Protection Unit (MPU) improves system reliability. If a program accesses a memory
location that is prohibited by the MPU, the processor generates a memory management fault,
causing a fault exception and possibly causing termination of the process in an OS environment.
The M3-core also comes with an enhanced system debug with extensive breakpoint and trace
capabilities. Please note that Serial Wire Debug is not supported by F28M35x.
F28M35x devices include additional write protection to critical registers. This is achieved by
using a “double write” method. In this method there is a WRALLOW register, which if written with
a particular value will allow writes to all other “PROTECTED” registers defined in this
specification. The WRALLOW register is only writable in M3 privilege mode.
46
F28M35x Workshop
Architectural Overview – Master M3 Subsystem
Memory System
Master Subsystem Memory Map
0x0000 0000
ROM
0x0020 0000
Flash
0x2000 0000
RAM
0x2000 8000
shared RAM
0x2000 8000
IPC RAM
0x4000 0000
Peripherals
0x6000 0000
EPI
64
KB ROM
512
Up
4
KB Flash
to 96 KB RAM
KB RAM for IPC
= ECC protection
The Master subsystem memory map starts at address 0x0000 0000 with on-chip boot ROM. The
μDMA controller can transfer data to and from the on-chip SRAM and peripherals. However,
because the Flash memory and ROM are located on a separate internal bus, it is not possible to
transfer data from the Flash memory or ROM with the μDMA controller.
Master Subsystem - ROM
Size:
64 Kbytes
Access:
single cycle
(start from 0x0000 0000)
Contains:
M3
boot loader code
Math tables
IPC code
AES cryptography table
Access:
F28M35x Workshop
from M3 only
47
Architectural Overview – Master M3 Subsystem
Note again that address 0x0000 0000 in the boot ROM contains the NVIC (Nested Vectored
Interrupt Controller). The boot ROM performs a number of operations and then transfers control
to the user application. The user application can then setup the NVIC and remap it to dedicated
RAM.
The on-chip ROM is 64 Kbytes. On top of the M3 boot loader code, the M3 ROM contains some
math tables.
The IPC (Inter-Processor Communication code) also resides in this ROM memory. M3 Boot
ROM does not include Flash API. Nothing that is used specifically for Ethernet stack or USB is in
the boot ROM. It does include AES cryptography table.
Only the M3 core can access its ROM block. This block cannot be accessed from the µDMA or
the C28 subsystem.
Master Subsystem - FLASH
Size:
512 bytes
14 sectors
Access: 25 nsec
Access: from M3 only
M3 core
Data
32
Instruction
Cache
Cache
Flash performance
M3
Frequency
Wait
State
Efficiency
Effective
Speed
40 MHz
0
100 %
40 MHz
80 MHz
1
96 %
77 MHz
100 MHz
2
92 %
92 MHz
Fetch Buffer (128-bit)
64
Pre-Fetch Buffer (128-bit)
interface
64
FLASH Bank (with ECC)
The F28M35x is based on 65nm FLASH Technology. The M3 Master subsystem and C28
Control subsystem operate from independent Flash banks. The M3 Flash is 512 Kbytes which is
split into 14 distinct sectors. The Flash cannot be accessed from the µDMA.
The Flash technology used in the F28M35x device has an overall cycle time of 25ns (or 40MHz).
This number includes any ECC error detection and correction overhead and any overhead
associated with performance acceleration mechanisms and caching.
To boost code execution performance, acceleration hardware is added. It consists of a 128-bit
wide 2-level pre-fetch mechanism. After the first 128-bit wide fetch, the Flash interface will fetch
ahead the next 128-bit wide word while the currently fetched instructions are fed to the CPU. In
theory, 128-bit wide word can hold four 32-bit instructions or eight 16-bit instructions. Hence, this
system can provide near single cycle performance even if the Flash wait states are as high as 3
(four cycle access).
In addition to the instruction pre-fetch mechanisms, the M3 Master System Flash interface also
implements a 128-Byte instruction cache. Simulations have shown that this can significantly
48
F28M35x Workshop
Architectural Overview – Master M3 Subsystem
boost performance for certain algorithms without severely impacting the "predictability" of
execution, which can be critical in real time systems. An 8 byte data cache is also present.
During a Flash memory operation (write, page erase, or mass erase) access to the Flash memory
is inhibited. Since the C28 and the M3 share the same pump, there is a Flash semaphore for
pump ownership.
Master Subsystem - RAM
Size:
96 Kbyte
Access:
single cycle
Each
M3
block is SARAM
C0-C1
C2-C3
S1-S7
shared
Size
8 KB
8 KB
8 KB
2 KB
2 KB
µDMA
No
Yes
Yes
Yes
Yes
C28
No
No
Shared
Read
Yes
Safety
ECC
parity
parity
parity
parity
Dedicated to M3
Shared with C28
M2C
C2M
Read
Accessible from µDMA
ECC safety
C0
C2
C1
C3
S0
S1
S2
S3
S4
S5
S6
S7
M2C
C2M
C28
The 96 Kbytes of RAM are split in 12 distinct blocks of 8 Kbytes each.
Two additional 2 Kbytes blocks are reserved for inter-processor communication.
•
•
•
•
M2C is for M3 to C28 exchange
C2M is for C28 to M3 exchange
C blocks are dedicated to the M3 subsystem
S block are shared
After Reset all of the 8 shared RAM blocks are mapped to the M3 subsystem.
F28M35x Workshop
49
Architectural Overview – Master M3 Subsystem
M3 Memory Protection Unit (MPU)
Cortex M3 memory is split in 8
Protection regions + 1 background
region
Independent settings for each region
Location start address
Size configurable from 32 B to 4 GB
Independent attributes for each Privileged
region
Super-user
Unprivileged
User
Permission
Fault
R/W
R/W
R
NO
None
Write by unprivileged
Access from unprivileged
R
R
No
Writes
Writes + Read from unprivileged
NO
NO
All
“Access Privilege” (AP)
No access (NO)
Read and Write (R/W)
Read only (R)
Overlapping protection regions with
region priority
MPU mismatches and permission
violations invoke Memory Manager
fault handler
The Memory Protection Unit (MPU) improves system reliability by defining the memory attributes
(no access, R/W, Read only) for different memory regions.
If a program accesses a memory location that is prohibited by the MPU, the processor generates
a memory management fault, causing a fault exception and possibly causing termination of the
process in an OS environment. The MMU provides up to eight different regions and an optional
predefined background region from 32B to 4GB range. The Cortex-M3 MPU memory map is
unified, meaning that instruction accesses and data accesses have the same region settings.
The MPU registers can only be accessed from privileged mode.
50
F28M35x Workshop
Architectural Overview – Master M3 Subsystem
Micro Direct Memory Access (µDMA)
32-channels - dedicated for supported peripherals
8,16 or 32 bits data sizes
Two levels of priority, Mask-able device requests
Channel Control Structure
Multiple transfer modes:
“Ping” – “pong”
Scatter - gather
0x0
Source end pointer
0x4
Destination end pointer
0x8
Control word
0XC
unused
Channel
0x0
0
0x10
1
…
0X1F0
31
0x200
0
0x210
1
…
0x2F0
Alternate
Basic
Description
Offset
Primary
Offset
Control Structure Memory Map
31
Interrupt on transfer completion with a separate interrupt per
channel
The Cortex-M3 Prime Cell 32-channel (μDMA) controller can perform transfers between memory
and peripherals.
The μDMA controller uses an area of system memory to store a set of channel control structures
in a table. This control table can be located anywhere in system memory, but it must be
contiguous and aligned on a 1024byte address boundary.
The control table may have two entries (primary, alternate) for each μDMA channel. Each entry
in the table structure contains source and destination pointers, transfer size, and transfer mode.
Three transfer modes are supported:
• Basic, for simple transfer scenarios where the μDMA controller performs transfers as long
as there are more items to transfer and a transfer request is present.
• Ping-Pong, for continuous data flow to/from peripherals. In this mode the transfer use 2
control structures so called the primary and the alternate control structure. The transfer
is started using the primary control structure.
• Scatter-gather, from a programmable list of arbitrary transfers initiated from a single
request. It is used when data must be transferred to or from varied locations in memory
instead of a set of contiguous locations in a memory buffer.
The μDMA controller can transfer data to and from the on-chip SRAM. However, because the
Flash memory and ROM are located on a separate internal bus, it is not possible to transfer data
from the Flash memory or ROM with the μDMA controller.
Each channel has a priority level bit to provide two levels of priority: default priority and high
priority. If the priority level bit is set, then that channel has higher priority than all other channels
at default priority. If multiple channels are set for high priority, then the channel number is used to
determine relative priority among all the high priority channels.
F28M35x Workshop
51
Architectural Overview – Master M3 Subsystem
Micro Cyclic Redundancy Check (µCRC)
Memory
ROM,
Flash and RAM
(mirrored)
Polynomials
CRC8
ROM
check on M3 side
DCODE bus
Flash
SYSTEM bus
RAM
M3 core
supported
Poly
0x07
CRC16
Poly-1
0x8005
µcrcCONFIG
CRC16
Poly-2
0x1021
µcrcCONTROL
CRC32
Poly
0x04c11db7
to run on secured
memory
µcrcRES
CRC8
unit
CRC16
unit
CRC32
unit
Ability
SEC-DATA
µCRCCRCLock
The F28M35x embeds a two dedicated modules for CRC, on the M3 subsystem and on the
Control subsystem. There are 4 fixed pre-defined polynomials. Depending on the standards your
application have to be compliant with, the CRC polynomial used in the CRC computation can be
one of these 4 polynomials.
Once the uCRC module is configured using its configuration register (“µcrcCONFIG”), it
intercepts the AHB buses of the M3 core to detect any read accesses from memory locations.
These read data are used to perform a CRC. The computed CRC gets accumulated in the CRC
result register (ucrcRES).
The SEC-DATA (Secure Data) strobe indicates whether the data appearing on the HRDATA bus
is originating from secured memory or not. In case data is coming from a secured area, then the
µCRCCRCLock register is used to give the µCRC module the ability to calculate CRC on secured
memories (including execute Only flash sectors).
The M3 ROM, flash and RAM are mapped to a mirrored memory location. It means that the
memory blocks are physically the same but have 2 addresses. The µCRC module grabs data
from the ABH bus only if the data is coming from an address that match the mirroring address.
52
F28M35x Workshop
Architectural Overview – Master M3 Subsystem
Interrupt System
The Cortex-M3 processor supports interrupts and system exceptions. The processor and the
Nested Vectored Interrupt Controller (NVIC) prioritize and handle all exceptions. An exception
changes the normal flow of software control. The processor uses Handler mode to handle all
exceptions except for reset. The NVIC registers control interrupt handling.
M3 Interrupt System
Nested
Vectored Interrupt Controller (NVIC):
Prioritize
and handle all exceptions
Automatic
interrupt service
Pre-emptive/nested
Full
interrupts implementation
access from privileged mode
Exceptions:
10
Cortex M3 core exceptions types
Up
to 91 peripherals interrupts (GPIOs, UART, USB,..)
Priority
Process
grouping
and Main (Handler) stacks
There are 10 exceptions types. All exceptions have a configurable priority except Reset, Hard
fault, and NMI which are granted with the highest priority. A lower priority value indicates a higher
priority. By default all exceptions with a configurable priority have a priority of 0.
Interrupt service is automatically handled by the NVIC. When an interrupt is serviced, the initial
state is automatically saved at the interrupt entry (and restored at the end). The vector table
entry is automatically read as well. The NVIC supports nested interrupts and pre-emption which
makes thread scheduling/service very flexible and perfect for RT operations. Full access to the
NVIC controller is restricted to the privileged mode.
The Master subsystem supports both level-sensitive and edge-triggered interrupts.
Note that the user has to clear the interrupt source at the beginning of the interrupt handler.
F28M35x Workshop
53
Architectural Overview – Master M3 Subsystem
M3 Exception Model
Exception Model handles all interrupts,
synchronous faults and Supervisor Call (SVC)
exceptions
Exceptions cause current machine state to be stacked
Stacked registers conform to EABI
Exception handlers are trivial as register
manipulation carried out in hardware
No assembler code required
Simple ‘C’ interrupt service routines:
void IRQ(void) { /* my handler */ }
Offset
0x0118
0x0048
0x0044
0x0040
0x003C
0x0038
IRQ top of stack
Exception
number
91
number
107
IRQ1
1
17
IRQ0
0
16
Systick
-1
15
PendSV
-2
14
-5
11
Usage fault
-10
6
Bus fault
-11
5
-12
4
Hard Fault
-13
3
NMI
-14
2
SVCall
Reserved
PREVIOUS TOP-OF-STACK VALUE
xPSR
PC
LR
R12
R3
R2
R1
R0
Vector
Reserved
0x002C
Pre-IRQ top of stack
IRQ
IRQ91
0x0018
0x0014
0x0010
0x000C
0x0008
0x0004
0x0000
Memory mgt fault
Reset
1
Initial SP value
Exception Model - When an interrupt is serviced, the new Stack Pointer (SP) points to the IRQ
top of stack. The Pre IRQ top of stack is where the old SP was pointing to. The context is
automatically saved on the stack.
The NVIC mapping at address 0 is in the boot ROM. After the boot ROM passes control to the
main application the NVIC can be initialized and remapped to RAM. Using a dedicated M3 RAM
block for the NVIC is recommended to reduce latency.
On the F28M35x, other than the normal interrupts hooked to the NVIC, certain error conditions
trigger exceptions:
•
•
•
•
•
•
54
NMI
clock fail condition detected
External GPIO input signal is requesting an NMI (Note: similar to Stellaris devices)
Error condition is generated on a C28 subsystem PIE NMI vector fetch
C28 NMIWD timed out and issued a reset to C28 CPU
Bus Fault: Also generated for memory access errors and RAM and flash uncorrectable
data errors
F28M35x Workshop
Architectural Overview – Master M3 Subsystem
M3 Interrupt Cycle Count
Highest
IRQ1
IRQ2
Cortex-M3
Interrupt Handling Push
12 Cycles
ISR 1
ISR 2
6 Cycles
Tail-Chaining
Pop
12 Cycles
12 cycles from IRQ1 to ISR1 (interruptible/continual LSM)
6 cycles from ISR1 exit to ISR2 entry
12 cycles to return from ISR2
Interrupt service is fast and efficient. The processor state is automatically stored to the stack on
an exception and automatically restored from the stack at the end of the Interrupt Service Routine
(ISR). The vector is fetched in parallel to the state saving, enabling efficient interrupt entry. The
processor supports tail-chaining, which enables back-to-back interrupts to be performed without
the overhead of state saving and restoration.
F28M35x Workshop
55
Architectural Overview – Master M3 Subsystem
External Peripheral Interface (EPI)
M3 External Peripheral Interface (EPI)
External Peripheral Interface
Cortex
M3
µDMA
The External Peripheral Interface (EPI) is a high-speed parallel bus for external peripherals or
memory. The EPI is similar to a standard microprocessor address/data bus.
EPI can run several modes of operation to interface many types of external devices:
•
•
•
Host-Bus Interface: Traditional x8 and 16 MCU bus interface capabilities which allow
access to SRAM, NOR Flash, and other devices. In host bus mode interface mode,
address and data can be de-multiplexed (allowing a 1 MB addressing) or multiplexed to
address up to 256 Mbytes. Whatever the constraint of the external memory can be, the
EPI can easily be configured to communicate with it through flexible setting such as
read/write W/S for speed control.
Machine-to-Machine: Wide parallel interfaces for fast communications (up to 150
Mbytes/second) with CPLDs and FPGAs and address width configurable in the range
from 4 to 16 bits.
General parallel GPIO: this mode supports communication with a parallel type of
peripheral (actuator, data acquisition) from 1 to 32-bit width through a FIFO buffer.
Again, the EPI offers much flexibility to control speed to fit any external device
constraints.
Enhanced capabilities include μDMA support, clocking control and support for external FIFO
buffers.
56
F28M35x Workshop
Architectural Overview – Master M3 Subsystem
M3 Serial Communication
Universal Asynchronous RX/TX (UART)
5
independent UARTs
Max baud rate 12.5 Mbps
Fully programmable serial interface
characteristics:
5,
6, 7, or 8 data bits
Even, odd or no-parity bit generation/detection
1 or 2 stop bit generation
Efficient
transfers using μDMA
Flexible modes
IrDA
serial-IR encoder/decoder for up to 115.2 Kbps
half-duplex
ISO 7816 Support (SmartCard communication)
Full modem handshake (UART1 only)
The F28M35x family includes 5 independent UARTs. Each UART is able to use separate
transmit and receive FIFOs with programmable FIFO length to reduce CPU interrupt service
loading with trigger levels of 1/8, 1/4, 1/2, 3/4, and 7/8. The UARTs support the standard
asynchronous communication data frame. Providing the M3 system clock is running at 100 MHz,
each UART can communicate at up to 12.5 Mbps.
Other features are:
•
•
•
•
•
•
False start bit detection
Line-break generation and detection
IrDA serial-IR (SIR) encoder/decoder for data rates up to 115.2 Kbps half-duplex
ISO 7816 Support (SmartCard communication)
Full modem handshake (UART1 only)
UARTs are accessible from/by µDMA.
F28M35x Workshop
57
Architectural Overview – Master M3 Subsystem
Inter-Integrated Circuit (I2C)
2
independent I²C modules
Master
or Slave - Simultaneous operation as
both a master and a slave
2
transmission speeds:
Standard
Fast
(100 Kbps)
(400 Kbps)
Master
Access
and slave interrupts support
from M3 only
Loopback
mode available
The F28M35x offers 2 independent I²C modules. The I²C bus provides bi-directional data transfer
through a two-wire design (a serial data line SDA and a serial clock line SCL). Each I2C module
supports both sending and receiving data as either a master or a slave and can operate
simultaneously as both a master and a slave.
There are a total of four I²C modes:
•
•
•
•
Master Transmit,
Master Receive
Slave Transmit,
Slave Receive
Both the I2C master and slave can generate interrupts. I²C master generates interrupts when a
transmit or receive operation completes (or aborts).
I²C slave generates interrupts when data has been sent or requested by a master.
I²C modules are accessible from M3 core only. µDMA access is not possible.
58
F28M35x Workshop
Architectural Overview – Master M3 Subsystem
Synchronous Serial Interface (SSI)
4
independent SSI
Master
or slave modes
Maximum
Separate
16
8
speed 25 Mbps
Tx and Rx FIFOs
bits wide
locations deep
Frame
size from 4 to 16 bits
Efficient
transfers using μDMA
Loopback
mode available
The F28M35x family includes 4 independent SSI on the master subsystem.
Each SSI is a master or slave interface for synchronous serial communication with peripheral
devices that have Freescale SPI, MICROWIRE, or Texas Instruments Synchronous Serial
Interfaces.
The SSI module has a programmable clock bit rate and prescaler. The SPI will support SPI
communication at up to 25MHz in TX or RX mode. The data frame size is programmable from 4
to 16 bit wide. Tx and Rx FIFO are independent and 8 words deep and 16-bit wide.
Efficient data transfer can be ensured through µDMA with single and burst capability. Internal
loopback test mode is also available for diagnostic/debug testing.
F28M35x Workshop
59
Architectural Overview – Master M3 Subsystem
Controller Area Network (CAN)
2 independent CAN modules compliant
with CAN protocol version 2.0 part A/B
Bit rates up to 1 MBit/s
1KB message RAM
32 message objects
Individual identifier & mask
Programmable FIFO mode
Test features:
Programmable loop-back modes
Direct access to Message RAM
Automatic bus on with programmable
delay
Wake up from deep sleep mode
No access from µDMA
The F28M35x includes 2 independent CAN modules. Each CAN module supports bit-rates up to
1 Mbit/s and is compliant to the CAN 2.0B protocol specification.
Two clock domains are provided to the CAN module:
• The CAN wrapper and registers are always clocked at the same rate as M3 SYSCLK (no
divide).
• As CAN peripherals can be susceptible to clock jitter at higher bit rates, the CAN Protocol
Kernel (CPK) is clocked from 3 possible sources which enables a more accurate and
stable clock to be fed to the peripherals. Also, this enables the use of spread spectrum
clocks without compromising CAN communications. The CAN bit clock can be:
• the M3 System Clock again
• from XCLKIN the external clock derived through a GPIO pin in the range from 8
to 25 MHz,
• or the X1 input oscillator clock directly in the range from 8 to 25 MHz
The CAN Core has to be programmed to at least 8 clock cycles per bit time. For instance, to
achieve a transfer rate of 1 MBaud when using the asynchronous clock domain as the clock
source for CAN_CLK, an oscillator frequency of 8MHz or higher has to be used.
Each CAN module can handle up to 32 mailboxes which contains distinct message objects and
their respective individual identifier are stored in the message RAM. Each mailbox is 32 bytes so
that the total message RAM is 1kByte long. Multiple message objects with the same identifiers
and masks can be concatenated to a FIFO Buffer.
Please note that the CAN message RAM parity check and additional robustness features for
safety.
Each CAN module can send 2 distinct interrupts to the NVIC:
• Error interrupts & Status interrupts can only be routed to CANn_INT0
60
F28M35x Workshop
Architectural Overview – Master M3 Subsystem
•
Mailbox interrupts can be routed to either CANn_INT0 or CANn_INT1.
The CAN module features programmable loop-back modes for self-test operation. This feature is
a key to comply with safety requirements necessary in many applications. The CAN modules
come with other features that are useful for test such as direct access to the message RAM.
After the CAN has entered Bus-Off state, the CPU can start a Bus-Off-Recovery sequence. The
CAN provides an automatic Auto-Bus-On that can delay this sequence. The CAN modules are
able to wake up the device from deep-sleep mode.
Both CAN modules belong to the M3 subsystem, they cannot be accessed directly by the C28 but
the C28 can access CAN through shared RAM.
There is no access from µDMA.
CANTX/CANRX pins cannot be configured as general purpose IO pins when unused.
Ethernet MAC
MAC
layer only
10BASE-T
and 100BASE-TX/RX IEEE 802.3
Full/Half-Duplex support
Programmable
MAC address
Hardware
support for Precision Time Protocol
(IEEE 1588 PTP Promiscuous mode support)
2KB
Transmit FIFO / 2KB Receive FIFO
Efficient
transfers using μDMA
The F28M35x Ethernet Controller consists of a fully integrated Media Access Controller (MAC); it
does not provide a network physical (PHY) interface. The MAC layer provides transmit and
receive processing for Ethernet frames. The MAC layer also provides the interface to the PHY
layer via an internal Media Independent Interface (MII).
The MAC conforms to IEEE 802.3 specifications and supports 10BASE-T and 100BASE-TX
standards (full and half duplex at 10 or 100 MBPS).
The Ethernet controller provides many options which allow the user to configure the module as
needed. Some of these options include a programmable MAC address, configurable interrupts,
CRC error-rejection control, promiscuous mode, and LED indicator selection.
Other features of the Ethernet controller include power-saving modes, power-down modes,
automatic cross-over correction, programmable transmit amplitude, and automatic polarity
correction.
F28M35x Workshop
61
Architectural Overview – Master M3 Subsystem
The unit also includes hardware assistance for an IEEE 1588 PTP-enabled system. IEEE 1588
adds a clock and ID address to permit synchronized operation between devices that support
these additionally feature.
Promiscuous mode – ability to receive all packets sent on network – like CAN. Versus only those
sent to specific MAC address.
Universal Serial Bus (USB)
Integrated
controller with integrated PHY
USB
2.0 full-speed (12 Mbps) / low-speed (1.5
Mbps)
Devices
with OTG/Host/Device or Host/Device
Transfer:
Control, Interrupt, Bulk and
Isochronous
Up
to 32 Endpoints
1
dedicated control IN endpoint
1
dedicated control OUT endpoint
4
KB Dedicated Endpoint Memory
µDMA
efficient data transfer
The F28M35x USB controller includes an integrated PHY for minimum system cost/easy
connection. Note that the module requires a 60MHz input clock, generated by a second PLL.
The USB-unit operates as a full-speed or low-speed function controller during point-to-point
communications with USB Host, Device, or OTG functions. The controller complies with the USB
2.0 standard, which includes SUSPEND and RESUME signaling. The controller complies with
OTG standard's session request protocol (SRP) by supporting both the session request protocol
(SRP) and the host negotiation protocol (HNP). The session request protocol allows devices on
the B side of a cable to request the A side device turn on VBUS.
In addition, the USB controller provides support for connecting to non-OTG peripherals or Host
controllers. The USB controller can be configured to act as either a dedicated Host or Device, in
which case, the USB0VBUS and USB0ID signals can be used as GPIOs.
It features 32 endpoints including two hard-wired for control transfers (one endpoint for IN and
one endpoint for OUT) plus 30 endpoints are defined by firmware along with a dynamic sizable
FIFO support multiple packet queuing. 4 KB of memory are dedicated to endpoint memory: one
endpoint may be defined for double-buffered with 1023-bytes isochronous packet size.
Software-controlled connect and disconnect allows flexibility during USB device start-up.
μDMA access to the FIFO allows minimal interference from system software. The USB
peripheral provides an interface connected to the μDMA controller with separate channels for 3
transmit endpoints and 3 receive endpoints.
62
F28M35x Workshop
Lab 2: Generating a Master M3 Subsystem Interrupt
Lab 2: Generating a Master M3 Subsystem Interrupt
Objective
The objective of this lab exercise is to add interrupt functionality to the Master M3 subsystem. A
general purpose timer will be used to generate a hardware-based trigger for toggling LED LD3 on
GPIO_PIN7. In the first lab exercise this was done using a software “for loop” delay toggle. This
lab exercise will only be implemented on the Master M3 subsystem. In the next lab exercise the
Control C28 subsystem will be added to the project performing a similar task.
Lab 2: Master M3 Subsystem
LED LD3
Add
interrupt functionality to the Master M3
subsystem
Create
M3 project
Master
subsystem blinks LED LD3 using general
purpose timer generated trigger
GP Timer0 replaces software delay “for” loop in Lab1
Procedure
Note:
To eliminate duplicate efforts and possibly reduce errors, the remaining lab exercise
projects in this workshop will use a copy of an existing project as a starting point. If the
previous project is not listed in the Project Explorer window it can be opened using
Project Import Existing CCS Eclipse Project.
Create a New Project – M3 Master Subsystem
1. The Lab1_M3 project will be used as a starting point for this lab exercise. Right click on
project Lab1_M3 and select “Copy” followed by “Paste”. A “Copy Project” window will open.
In the Project name field rename the project to Lab2_M3. Uncheck the “Use default location”
box. Click the Browse… button and navigate to:
C:\F28M35x\Labs\Lab2\M3
Click OK, and then OK again to copy the project.
F28M35x Workshop
63
Lab 2: Generating a Master M3 Subsystem Interrupt
2. Close the Lab1_M3 project by right-clicking on the project in the Project Explorer window and
select Close Project.
3. Next, in the Lab2_M3 project delete the “Debug” folder.
4. Then delete file Lab1_M3.c from the project. A new function “main()” file will be added next.
5. Add (“copy files”) the function “main()” source file to the project by right-clicking on Lab2_M3
in the “Project Explorer” window and selecting Add Files…
File: Lab2_M3.c
Folder: C:\F28M35x\Labs\Source_files
Lab2_M3.c file is identical to the Lab1_M3.c file except for additional code sections
needed for this lab exercise. The new additional code sections will be explained next.
Inspect Source File Lab2_M3.c
6. Open and inspect Lab2_M3.c. Notice the code modifications as compared to the Lab1_M3.c
file. Like before, at the beginning of the code the required header files are included. Except
this time a new line for the M3 Timer header declaration has been added:
The next code block section is used as the Timer 0 Interrupt Service Routine. A local static
variable “toggle” is used to switch the LED on or off with every other interrupt. The interrupt
is cleared using the MWare library function “TimerIntClear”:
In the function “main()” a new code sequence is added to setup the M3 Timer 0. Timer 0 is
enabled (“SysCtlPeripheralEnable”), set to 32-bit operating mode (“TimerConfigure”) and the
period is set (“TimerLoadSet”) by reading the system clock speed in Hz (in our example
75,000,000 Hz). By using this setup, the timer will count 75,000,000 / 2 input clock cycles of
13.33 nanoseconds and the resulting interrupt trigger will be 500 milliseconds:
64
F28M35x Workshop
Lab 2: Generating a Master M3 Subsystem Interrupt
Finally, a code sequence will enable the M3 interrupt system and start the timer. The
address of the interrupt service routine is loaded into the vector table by the MWare library
function “IntRegister”:
The “while(1);” instruction will loop forever, and all activities will be performed in the interrupt
handler.
Build the Project and Program the Flash Memory
7. Click the “Build” button and watch the tools run in the “Console” window. Check for errors in
the “Problems” window.
8. Program the flash memory by clicking the “Debug” button (green bug) or click RunDebug.
(If needed, when the “Progress Information” box opens select “Details >>” in order to watch
the programming operation and status). After successfully programming the flash memory
the “Progress Information” box will close.
Run the Code – Test the M3
9. The blue arrow (program counter) should now be pointing to the beginning of “main()”:
10. Run the M3 code using the “Resume” button on the toolbar (or F8 key). LED LD3 should be
blinking at a period of exactly 1 second.
11. Halt the M3 code using the “Suspend” button on the toolbar (or alt+F8).
Terminate Debug Session
12. Terminate the active debug session using the Terminate button. This will close the debugger
and return CCS to the “CCS Edit” perspective view.
End of Exercise
F28M35x Workshop
65
Architectural Overview – Control C28 Subsystem
Architectural Overview – Control C28 Subsystem
Architectural Block Diagram
The F28M35x Control subsystem very closely resembles the C2000 F283xx “Delfino” device
family with some added enhancements from the F280xx “Piccolo” family.
Although most Delfino family devices include an on-chip ADC, the choice was made for the
F28M35x to implement analog peripherals including the on-chip ADC and the analog
comparators in a separate Analog subsystem. One of the key advantages of this is to allow both
the Control and the Master subsystem to access these peripherals.
C28 Control Subsystem Architecture
Sectored
COMP
RAM
Flash
Boot
DMA
ROM
6 Ch.
ADC
µDMA Bus
Common Interface Bus
Program Bus
ePWM1-9
DMA Bus
eCAP1-6
eQEP1-3
32-bit
Auxiliary
Registers
CPU
32x32 bit
Multiplier
R-M-W
Atomic FPU VCU
PIE
Interrupt
Manager
Watchdog
I2C
ALU
3
Register Bus
Data Bus
32-bit
SCI
Timers
SPI
McBSP
The legacy C28x architecture is based on a 32-bit fixed point CPU. When performing signed
math, the CPU uses 2s-complement notation. The Control engine is based on the C28x plus
floating-point (C28x+FPU) co-processor which extends the capabilities of the C28x 32-bit fixedpoint CPU by adding registers and instructions to support IEEE single-precision 754 floating point
operations. Double-precision operations will require support libraries.
No changes have been made to the C28x+FPU base set of instructions, pipeline, or memory bus
architecture. Therefore, programs written for the C28x+FPU (i.e. Delfino) are completely
compatible with the F28M35x.
The Viterbi, Complex math, CRC unit (VCU) enhances the digital signal processing capability of
the C28 CPU core. The VCU includes its own resources.
The CPU features include circular addressing and a modified Harvard architecture that enables
instruction and data fetches to be performed in parallel. The CPU can read instructions and data
while it writes data simultaneously to maintain the single-cycle instruction operation across the
pipeline.
66
F28M35x Workshop
Architectural Overview – Control C28 Subsystem
Note that no system watchdog is available on the C28 subsystem, as with the Delfino or Piccolo
family devices, however an NMI watchdog is available.
The F28M35x C28 subsystem includes 3 CPU timers which are exactly the same as on the
Piccolo and Delfino family devices.
The C28 memory map is accessible outside the CPU by means of the memory interface. This
connects the CPU logic to memories, peripherals, or other interfaces. The memory interface
includes separate buses for program space and data space. This allows an instruction to be
fetched from program memory while data memory is being accessed at the same time.
Control peripherals and communication peripherals are accessible through data bus.
Although the Analog to Digital Converter and the Comparators are not part of the Control
subsystem, they can be accessed through the Analog Common Interface Bus (ACIB). It is
accessible from all the 4 masters namely C28 CPU, C28 DMA, M3 CPU and M3 DMA
simultaneously.
Note that the CAN modules are mapped to the M3 subsystem and cannot be accessed from the
Control subsystem.
The EPI which is used to interface to external memory or FPGA is also owned by the Master
subsystem and cannot be addressed directly from the C28 subsystem.
At reset all of the GPIO pins belong to the Master M3 subsystem. The M3 is responsible for
allocating pins to the C28 multiplexer system. Once the pins have been allocated the assignment
can be locked for safety.
Memory System
Control Subsystem Memory Map
0x0000 0000
RAM
0x0000 0AE0
Periph Reg
0x0000 8000
RAM
0x0000 A000
RAM
0x0000 C000
shared RAM
0x0003 F800
IPC RAM
0x0010 0000
Flash
0x003F 8000
ROM
64
KB ROM
512
Up
4
KB Flash
to 100 KB RAM
KB RAM for IPC
= ECC protection
F28M35x Workshop
67
Architectural Overview – Control C28 Subsystem
Control Subsystem - ROM
Size:
64 Kbytes
Access:
single cycle
(start from 0x003F 8000)
Contains:
C28
boot loader code
Math tables
IQmath
Floating-Point
PLC
IPC
code
Access:
from C28 only
The on-chip ROM is 64 Kbytes. At the beginning of the boot loader code, the C28 ROM contains
some math tables for PLC, IQ-math and FPU-math. It also contains code for the Inter Processor
Communication (IPC).
Only the C28 subsystem can access its ROM block. It cannot be accessed from the DMA or M3
subsystem.
Control Subsystem - FLASH
Size:
512 Kbytes
14 sectors
Access: 25 nsec
Access: from C28 only
Flash performance
68
C28
Frequency
Wait State
Efficiency
Effective
Speed
40 MHz
0
100 %
40 MHz
80 MHz
1
96 %
77 MHz
100 MHz
2
94 %
94 MHz
150 MHz
3
91 %
137 MHz
F28M35x Workshop
Architectural Overview – Control C28 Subsystem
The F28M35x is based on 65nm FLASH Technology. The M3 Master subsystem and C28
Control subsystem operate from independent Flash banks. The C28 Flash is 512 Kbytes which is
split into 14 sections. FLASH cannot be accessed from the DMA.
To boost code execution performance, acceleration hardware is added. It consists of a 128-bit
wide 2-level pre-fetch mechanism. After the first 128-bit wide fetch, the Flash interface will fetch
ahead the next 128-bit wide word while the currently fetched instructions are fed to the CPU. In
theory, 128-bit wide word can hold four 32-bit instructions or eight 16-bit instructions. Hence, this
system can provide near single cycle performance even if the Flash wait states are as high as 3
(four cycle access).
During a Flash memory operation (write, page erase, or mass erase) access to the Flash memory
is inhibited. Although M3 Flash bank can only be programmed by M3 and C28 Flash bank can
only be programmed by C28, the C28 and the M3 share the same charge pump. Hence, there is
a Flash semaphore for pump ownership. By default on reset, the Flash Pump is mapped to M3.
For the C28 to program its own bank it must request access to Flash Pump and the clock control
registers via semaphores.
Control Subsystem - RAM
Size:
100 Kbytes
Access:
single cycle
Each
M0
L0
L2
M1
L1
L3
S0
S1
S2
S3
S4
S5
S6
S7
M2C
C2M
C28
block is SARAM
M0-M1
L0-L1
L2-L3
S1-S7
shared
M2C
Read
C2M
Size
2 KB
8 KB
8 KB
8 KB
2 KB
2 KB
DMA
No
No
Yes
Yes
Yes
Yes
M3
No
No
No
Shared
Yes
Read
Safety
ECC
ECC
parity
parity
parity
parity
Dedicated to C28
Shared with M3
Accessible from DMA
ECC safety
M3
The 100 Kbytes of RAM are split in 14 distinct blocks. M0 and M1 are 2 Kbytes each whereas
the other 12 blocks are 8 Kbytes each.
Two additional 2 Kbytes blocks are reserved for inter-processor communication.
•
•
•
M2C is for M3 to C28 exchange
C2M is for C28 to M3 exchange
L blocks are dedicated
At Reset all of the 8 shared RAM blocks are mapped to the M3 subsystem.
F28M35x Workshop
69
Architectural Overview – Control C28 Subsystem
Direct Memory Access (DMA)
DMA Controller
Trigger source
CPU Timers, McBSP
XINTn, ePWM, ADC
• 6 channels with independent PIE interrupts
DMA
Bus
McBSP
Module
DMA
ePWM
Modules
6-ch
Controller
CIB
ADC/COMP
Module
SARAM
Zones
interrupt
• Event-based machine
• Channel 1 has the ability to be a high-priority
channel
• 4 cycles/word throughput (5 for McBSP)
• Arbitration handing when CPU and DMA both try
to access the same interface concurrently
Peripheral Interrupt Trigger Sources
• ADC sequencers
• external interrupt (XINT1-3)
• McBSP
• CPU Timers
• ePWM Start-of-conversion signals
Data Sources / Destinations
• Some RAM zones
PIE
• ADC result/COMP registers
• McBSP transmit/receive buffers
• ePWM 1-9 registers
The DMA module is an event-based machine; it requires a peripheral interrupt trigger to start a
DMA transfer. The sources can be:
•
•
•
•
•
The ADC sequencers from the Analog Common Interface Bus
External interrupts (XINT1-3) that can be triggered from any of the 64 GPIOs
McBSP
CPU Timers
ePWM Start-of-Conversion signals (A or B)
The trigger source for each of the six DMA channels can be configured separately and each
channel contains its own independent PIE interrupt to let the CPU know when a DMA transfers
has either started or completed.
Peripherals can also be used as:
•
•
•
Source: ADC result and Comparator registers
Destination : ePWM registers
Source and destination : McBSP
The DMA can transfer data to/from some RAM zones:
• Shared memory block S0 to S7, following the rules given by each block ownership
• L2 and L3 dedicated memory blocks
• Message RAM blocks that are dedicated to the inter-processor communication.
The DMA consists of a 4-stage pipeline. Each DMA channel can be configured with a word of
either 16 bits or 32 bits. The transfer is defined a number of up to 64K burst to transfer. The
burst is defined as the smallest entity to transfer at a time; it can be configured for each channel
from 1 up to 32 words.
70
F28M35x Workshop
Architectural Overview – Control C28 Subsystem
Interrupt System
C28 Interrupt System
PIE
Peripheral
SCI, ePWM, eCAP
PIECTRL Reg
PIEACK Reg
PIEIER1 Reg
PIEIFR1 Reg
INT1.1n to INT1.8n
eQEP, ADC, McBSP
DMA, FPU
LowPower
GPIO0int
…
GPIO63int
PIEIER12 Reg
PIEIFR12 Reg
WAKEINT
Ctl
Ctl
RAM Vector
XINT1
Table
(128 vectors)
XINT2
INT12n (lowest )
XINT3
CPU Timer 0
TINT0
CPU Timer 1
TINT1
INT13
CPU Timer 2
TINT2
INT14
NMI
NMINT
ST1 (INTM flag) Reg
IER Reg
IFR Reg
DBGIER Reg
PIE
INT12.1n to INT12.8n
Ctl
C28 CPU
INT1n ( highest )
2 non-maskable interrupts
(RS, “selectable” NMI)
Interrupt priority is fixed
14 maskable interrupts (INT1 - INT14)
12 multiplexed interrupts through PIE
The C28 subsystem handles 15 interrupts. Interrupt 13 and 14 are direct connected to CPU onchip timers 1 and 2. One Interrupt is dedicated to NMI (Non Maskable Interrupts) and Interrupts 1
to 12 are multiplexed by a Peripheral Interrupt Expansion (PIE) unit.
Interrupts are automatically prioritized by the C28 hardware. Group 1, which corresponds to CPU
INT1, has the highest priority. Within each group there are 8 interrupts with INTx.1 being the
highest priority and INTx.8 having the lowest.
There are 3 external interrupt available: XINT1, XINT 2 and XINT3. Any of the 64 GPIO can be
used to trigger one of these external sources of interrupt. These XINT interrupt can be configured
as either negative, positive or both edge triggered. Each of the 3 external interrupts has its own
16-bit counter that starts counting when a valid interrupt edge is detected and resets when
another valid edge is detected.
F28M35x Workshop
71
Architectural Overview – Control C28 Subsystem
Viterbi, Complex Math, CRC Unit (VCU)
VCU Module
Arithmetic Unit (AU)
VCU
Execution
Registers
VSTATUS
VR0
VR1
VR2
VR3
VCU
• complex number arithmetic and FFT calculation
•
AU
(complex-number
arithmetic Unit,
supports Complex
number
multiplication,
MAC and ADD)
2 cycle complex-number multiplication with
16-bit x16-bit = 32-bit real and imaginary parts
• 1 cycle complex-number addition
•
2-cycle Complex multiply-and-accumulate (MAC)
•
A repeat Complex-MAC operation
•
Instruction to support 5-cycle 16-bit FFT butterfly
VR4
CPU I/F
C28
Subsystem
VR6
C28 Mem Bus
Viterbi Unit (VU)
VR5
VR7
VR8
VU
(Viterbi Unit,
supports Viterbi
ADD-CompareSelect
Operation)
•
•
•
VT0
VT1
CU
VCRC
• SW implementation of Viterbi decoder by performing
the ADD-Compare-Select and trace back operation in
hardware
(CRC Unit,
supports CRC8,
CRC16
and CRC32)
1 cycle branch metrics initialization for CR=1/2 and
2 cycle branch metrics initialization for CR=1/3
2-cycle Viterbi butterfly operation
3-cycle Viterbi trace back operation per Viterbi stage
CRC Unit (CU)
• generation of CRC8, CRC16 and CRC32 on data
stored in memory
• Byte-wise calculation to support PRIME
Additionally to the fixed-point CPU and its floating point co-processor, the F28M35x includes a
Viterbi CRC and Complex Arithmetic unit (VCU). This unit operates in three modes:
•
•
•
CRC Unit (CU): Three standard polynoms are supported in hardware – CRC32, CRC16 and
CRC8.
Viterbi Unit (VU): Viterbi decoding is commonly used in baseband communications
applications. Without a VCU, it takes 15 cycles for the C28 CPU to perform two Viterbi
butterfly calculations. F28x MCUs with the VCU option can perform two simultaneous
butterflies in 2 cycles. A Viterbi trace back implemented in S/W takes 22 cycles per stage
compared to just 3 cycles per stage using the VCU.
Complex Arithmetic Unit (AU): The Complex Math capability of the VCU enables the VCU to
perform 16-bit FFT butterflies in 5 cycles and 16-bit complex filters in a single cycle/tap.
The VCU benefits of its own independent register space. These registers function as source and
destination registers for VCU instructions. The VCU is optimized for 16-bit fixed point data
operations, which are common in communication algorithms.
An application issues instructions to the VCU in the same way that an application issues an
instruction to the FPU using dedicated registers with pointers to data and result buffers. This
allows applications to utilize VCU-accelerated calculations at any time.
Communications is becoming increasingly important to engineers interested in the renewable
energy space. One popular method of communication is Power Line Communications, or PLC,
because the network already exists and a customer doesn’t have to invest in installing a new
network such as Ethernet. The main challenge is power lines are very noisy. Special encoding
techniques are required to add extra bits to the transmitted data for error correction. Transmitting
over the power line is not difficult but receiving information off the line is quite math intensive with
lot of filtering, FFT, decoding and checking for data integrity.
Just as an FPU provides advanced mathematical capabilities, the VCU is extremely efficient at
performing FFT, filtering, and CRC calculations.
72
F28M35x Workshop
Architectural Overview – Control C28 Subsystem
As an example, the following steps explain how the VCU processes the receive portion of a PLC
modem. First, the complex math signal is received from the analog front-end and filtered by the
CMU (Complex Math Unit). A complex FFT would follow. The CMU can run up to 4x faster 16-bit
complex FFT butterfly vs. software since it can do 2 cycle complex number multiplication; single
cycle complex number addition; and 2 cycle complex MAC. After the FFT the information is decoded via the VU or the Viterbi Decoding Unit. The VU can do up to 7x faster butterfly and 5x
faster trace back. Then after the data is decoded, the CRC Unit (CU) can perform CRC checking
for it data integrity in memory. This performance is increased up to 25 times because it is done in
hardware.
Other application areas for the VCU are:
• Additional part for digital motor control in order to do vibration analysis on the motor.
• Radar sensor applications can take advantage of the FFT capabilities in the VCU to run the
radar sensor algorithms.
• Orthogonal Frequency Division Multiplexing (OFDM) modulation techniques.
• Memory integrity checks can be accelerated using the VCU’s CRC-32 capabilities.
Texas Instruments provides a complete library of VCU-functions that can be called from C.
ePWM Module
C28 ePWM Module Block Diagram
Clock
Prescaler
TBCLK
Shadowed
Shadowed
Compare
Register
Compare
Register
16-Bit
Time-Base
Counter
EPWMxSYNCI
EPWMxSYNCO
Compare
Logic
Period
Register
Shadowed
Action
Qualifier
Dead
Band
EPWMxA
PWM
Chopper
Trip
Zone
EPWMxB
SYSCLKOUT
TZy
Digital
Compare
TZ1-TZ3
The ePWM module is similar to the one used on the Piccolo devices with some additional
enhancements. One enhancement to consider is the high-resolution mode which enables
achieving resolution up to ~150ps. This applies to:
• The PWM frequency
• COMPA and COMPB to configure the duty cycle value
• The phase registers is also compliant with high resolution
• Both channel (A and B) can generate a high-resolution PWM waveform where it was only
available to a single channel on previous C2000 devices
• The dead-band sub-module that enables a delay to the PWM falling and/or rising edge also
makes use of the high-resolution feature
F28M35x Workshop
73
Architectural Overview – Control C28 Subsystem
In addition to CMPA and CMPB, two new ePWM events are available (CMPC and CMPD) to
trigger an interrupt or send a SOC event to the ADC.
Also a new feature is the ability to simultaneous update the period and compare registers across
synchronized modules.
The event-trigger has been enhanced. The SOC/INT counters have been increased to 4-bits
enabling the INT/SOC to generate a trigger up to every 15 events. This allows software
initialization of event counters on SYNC event (user can initialize the ET SOC/INT counters
synchronized between different PWM control loops).
The ePWM are accessible from the DMA which makes control loop highly efficient and fast.
Hi-Resolution PWM (HRPWM)
PWM Period
Regular
PWM Step
(i.e. 10 ns)
Device Clock
(i.e. 100 MHz)
HRPWM divides a clock
cycle into smaller steps
called Micro Steps
(Step Size ~= 150 ps)
ms
ms
ms
ms
Calibration Logic
ms
ms
Calibration Logic tracks the
number of Micro Steps per
clock to account for
variations caused by
Temp/Volt/Process
HRPWM
Micro Step (~150 ps)
Significantly increases the resolution of conventionally derived digital PWM
Uses 8-bit extensions to Compare registers (CMPxHR), Period register
(TBPRDHR) and Phase register (TBPHSHR) for edge positioning control
Typically used when PWM resolution falls below ~9-10 bits which occurs at
frequencies greater than ~200 kHz (with system clock of 100 MHz)
Not all ePWM outputs support HRPWM feature (see device datasheet)
The high-resolution feature extends the time resolution capabilities of the conventionally
derived digital pulse width modulator (PWM). HRPWM is typically used when PWM
resolution falls below ~ 9-10 bits. The key features of HRPWM are:
• Extended time resolution capability
• Used in both duty cycle and phase-shift control methods
• Finer time granularity control or edge positioning using extensions to the Compare A,
Compare B and Phase registers
• Implemented using the A & B signal path of PWM, i.e., on the EPWMxA and
EPWMxB output
• Dead band high-resolution control for falling and rising edge delay in half cycle
clocking operation
• Self-check diagnostics software mode to check if the micro edge positioner (MEP)
logic is running optimally
• Enables high resolution output swapping on the EPWMxA and EPWMxB output
• Enables high-resolution output on EPWMxB signal output via inversion of EPWMxA
signal output
• Enables high-resolution period, duty and phase control on the EPWMxA and
EPWMxB output on selected devices
74
F28M35x Workshop
Lab 3: Generating a Control C28 Subsystem Interrupt
Lab 3: Generating a Control C28 Subsystem Interrupt
Objective
The objective of this lab exercise is to add interrupt functionality to the Control C28 subsystem. A
general purpose timer will be used to generate a hardware-based trigger for toggling LED LD2 on
GPIO_PIN 70. In the first lab exercise this was done using a software “for loop” delay toggle.
This lab exercise combines both the Master M3 and Control C28 subsystems implementing
interrupt driven hardware-based triggers for the LEDs.
Lab 3: Control C28 Subsystem
LED LD3
LED LD2
Add
interrupt functionality to the Control C28
subsystem
Create
C28 project
Control
subsystem blinks LED LD2 using CPU timer
generated trigger
CPU Timer0 replaces software delay “for” loop in Lab1
M3
project runs unchanged from Lab2
Procedure
Create a New Project – C28 Control Subsystem
1. The Lab1_C28 project will be used as a starting point for this part of the lab exercise. Right
click on project Lab1_C28 and select “Copy” followed by “Paste”. A “Copy Project” window
will open.
In the Project name field rename the project to Lab3_C28. Uncheck the “Use default
location” box. Click the Browse… button and navigate to:
C:\F28M35x\Labs\Lab3\C28
Click OK, and then OK again to copy the project.
2. Close the Lab1_C28 project by right-clicking on the project in the Project Explorer window
and select Close Project.
3. Next, in the Lab3_C28 project delete the “Debug” folder.
4. Then rename file Lab1_C28.c to Lab3_C28.c.
F28M35x Workshop
75
Lab 3: Generating a Control C28 Subsystem Interrupt
Add Files to Project – C28 Control Subsystem
5. Add (“copy files”) the following source files to the project by right-clicking on Lab3_C28 in the
“Project Explorer” window and selecting Add Files…
File: F28M35x_CpuTimers.c
File: F28M35x_DefaultIsr.c
File: F28M35x_PieCtrl.c
File: F28M35x_PieVect.c
Folder: C:\F28M35x\Device_support\F28M35x_common\source
Edit Source File Lab3_C28.c
Note:
For this and the remaining lab exercises, code will be added to various files. To assist in
this process, the needed code for the lab exercise can be copied from the LabCode.txt
file located in the folder C:\F28M35x\Labs\Source_files.
6. Edit Lab3_C28.c as follows – at the beginning of the code add a new define command:
#define C28_FREQ
150
//C28 CPU frequency in MHz
7. Next, at the beginning of the code before “main()” add a new function declaration for the local
interrupt service routine of CPU-Timer 0:
interrupt void cpu_timer0_isr(void);
8. At the beginning of function “main()” delete the local variable “uldelay”.
9. After the function call “InitFlash()” add new instructions:
InitPieCtrl();
InitPieVectTable();
EALLOW; // This is needed to write to EALLOW protected registers
PieVectTable.TINT0 = &cpu_timer0_isr;
EDIS;
InitCpuTimers();
ConfigCpuTimer(&CpuTimer0, C28_FREQ, 125000);
PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
IER |= 1;
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
InitPieCtrl() and InitPieVectors() will initialize the PIE interrupt vector table
with default functions. These functions can be found in F28M35_DefaultIsr.c.
The next line will replace the interrupt table entry for Timer 0 by the local function
“cpu_timer0_isr”.
The next two lines will initialize CPU Timer 0 to a period of 125,000 microseconds =
0.125 seconds.
The last four lines will enable the CPU Timer 0 interrupt.
76
F28M35x Workshop
Lab 3: Generating a Control C28 Subsystem Interrupt
10. Now replace the “while(1)” loop with:
CpuTimer0Regs.TCR.bit.TSS = 0;
while(1);
// start T0
The TSS bit cleared to zero will start the timer. The endless while(1) loop is idle.
11. Finally, after the end of function “main()” add a new function:
interrupt void cpu_timer0_isr(void)
{
GpioG1DataRegs.GPCDAT.bit.GPIO70 ^= 1;
PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
}
// Toggle LED
// ACK PIE – Int
Build the C28 Control Subsystem Project
12. Click the “Build” button and watch the tools run in the “Console” window. Check for errors in
the “Problems” window.
Create a New Project – M3 Master Subsystem
13. The Lab2_M3 project will be used as a starting point for this part of the lab exercise. Right
click on project Lab2_M3 and select “Copy” followed by “Paste”. A “Copy Project” window
will open.
In the Project name field rename the project to Lab3_M3. Uncheck the “Use default location”
box. Click the Browse… button and navigate to:
C:\F28M35x\Labs\Lab3\M3
Click OK, and then OK again to copy the project.
14. Close the Lab2_M3 project by right-clicking on the project in the Project Explorer window and
select Close Project.
15. Next, in the Lab3_M3 project delete the “Debug” folder.
16. Then rename file Lab2_M3.c to Lab3_M3.c.
Edit Source File Lab3_M3.c
17. In Lab3_M3.c we need to enable the Inter-Processor Communication (IPC), and then we
need to select control for GPIO70 to the C28 Control subsystem. Uncomment the following
two lines (78 and 84):
IPCMtoCBootControlSystem(CBROM_MTOC_BOOTMODE_BOOT_FROM_FLASH);
GPIOPinConfigureCoreSelect(GPIO_PORTC_BASE, 0x40, GPIO_PIN_C_CORE_SELECT);
Build the M3 Master Subsystem Project and Program Flash
18. Click the “Build” button and watch the tools run in the “Console” window. Check for errors in
the “Problems” window.
19. Program the flash memory by clicking the “Debug” button (green bug) or click RunDebug.
After successfully programming the flash memory the “Progress Information” box will close.
F28M35x Workshop
77
Lab 3: Generating a Control C28 Subsystem Interrupt
Dual Subsystem Debugging
20. The “Debug” window should reflect the current status of the two subsystems showing the
Cortex_M3_0 as connected (suspended), and C28xx_0 as disconnected. Now in the
“Debug” window highlight the C28xx_0 (Disconnected : Unknown) line and right click and
select “Connect Target”. With the line still highlighted, load the program by clicking:
Run Load Load Program…
and Browse to C:\F28M35x\Labs\Lab3\C28\Debug\Lab3_C28.out
Select Open and then OK to program the flash memory.
21. In the “Debug” window left click on the line Texas Instruments XDSv2 USB
Emulator_0/C28xx_0 and then click the “Reset CPU” icon.
22. Next in the “Debug” window left click on the line Texas Instruments XDSv2 USB
Emulator_0/Cortex_M3_0 and the click the “Reset CPU” icon.
Running the Dual Subsystem
23. In the “Debug” window highlight the C28 subsystem and run the code by clicking the Resume
icon (or F8). The C28 runs into an “Idle” instruction in the boot ROM code and waits for an
IPC command from the M3 subsystem.
24. Next in the “Debug” window highlight the M3 subsystem and run the code (Resume icon or
F8). Both the C28 and M3 subsystems should now be running. The C28 subsystem is
controlling the blinking of LED LD2, and the M3 subsystem is controlling the blinking of LED
LD3.
Terminate Debug Session
25. Terminate the active debug session using the Terminate button.
End of Exercise
78
F28M35x Workshop
Analog Subsystem
Analog Subsystem
Analog Subsystem
S/H
S/H
COMP1
COMP2
COMP3
ADC2
S/H
S/H
COMP4
COMP5
COMP6
Analog Common Interface Bus (ACIB)
ADC1
Dual 12-bit ADC modules - each
ADC module include:
Master
Subsystem
Control
Subsystem
Built-in dual sample-and-hold (S/H)
Simultaneous or sequential
sampling modes
Full range analog input: 0 V to 3.3 V
fixed, or VREFHI/VREFLO
ratiometric
Up to 10-channel multiplexed inputs
16 SOC’s, configurable for trigger,
sample window, and channel
16 result registers (individually
addressable) to store conversion
values
Multiple trigger sources
3 analog comparators with 3
10-bit DACs
8 flexible PIE interrupts for both
ADC modules
8 flexible NVIC interrupts total both
ADC modules
The Analog subsystem consists of dual 12-bit ADC modules and six comparators with six internal
10-bit DACs. Each ADC module block has two sample and hold circuits and three comparators
plus three internal 10-bit DACs.
The Analog subsystem is accessed by the analog common interface bus (ACIB). The ACIB is
responsible for transferring triggers initiated by the Control subsystem to the Analog subsystem
and transferring interrupts initiated by the Analog subsystem to both the Master subsystem and
Control subsystem. The ACIB also transfers analog register read and write data and ADC
conversion results.
The internal ADC module is a 12-bit recyclic ADC; part SAR, part pipelined. The analog circuits
of this converter include:
•
•
•
•
The front-end analog multiplexers (MUXs)
Sample-and-hold (S/H) circuits
The conversion core
Voltage regulators and other analog supporting circuits
Digital circuits include programmable conversions, result registers, interface to analog circuits,
interface to the Analog Common Interface Bus (ACIB) and interface to other on-chip modules.
F28M35x Workshop
79
Analog Subsystem
Module Block Diagram
Single ADC Module Block Diagram
ADCINA0
ADCINA1
S/H
A
MUX
A
ADCINB0
ADCINB3
ADCINB4
ADCINB7
ADC full-scale
input range is
0 to 3.3V
MUX
ADCINA7
S/H
B
MUX
B
Result
MUX
12-bit A/D
Converter
SOCx
RESULT15
ADC
EOCx
Generation
Logic
CHSEL
SOCx Signal
ADC
Interrupt
Logic
ADCINT1
TRIGSEL
TRIGSEL
TRIGSEL
TRIGSEL
CHSEL
CHSEL
CHSEL
CHSEL
ACQPS
ACQPS
ACQPS
ACQPS
SOC15 TRIGSEL CHSEL ACQPS
SOCx Triggers
ADCINT2
SOC0
SOC1
SOC2
SOC3
RESULT0
RESULT1
RESULT2
ADCINT1-8
NVIC
PIE
Software
CPU Timer (0,1,2)
EPWMxSOCA (x = 1 to 9)
EPWMxSOCB (x = 1 to 9)
External Pin
SOCx Configuration Registers
Unlike the Delfino ADC, this ADC is not sequencer based. Instead, it is SOC based. The term
“SOC” is the configuration set defining the single conversion of a single channel. In that set there
are three configurations:
•
•
•
Trigger source that starts the conversion
Channel to convert
Acquisition (sample) window size
Each SOC is independently configured and can have any combination of the trigger, channel, and
sample window size available. Multiple SOCs can be configured for the same trigger, channel,
and/or acquisition window as desired. This provides a very flexible means of configuring
conversions ranging from individual samples of different channels with different triggers, to
oversampling the same channel using a single trigger, to creating your own series of conversions
of different channels all from a single trigger.
The trigger source for SOCx is configured by a combination of the TRIGSEL field in the
ADCSOCxCTL register, the appropriate bits in the ADCINTSOCSEL1 or ADCINTSOCSEL2
register, and setting the correct bits in the TRIGxSEL registers. Software can also force an SOC
event with the ADCSOCFRC1 register. The channel and sample window size for SOCx are
configured with the CHSEL and ACQPS fields of the ADCSOCxCTL register.
80
F28M35x Workshop
Analog Subsystem
Input Pin Connections
ADC1 Input Pin Connections
VREFLO
VSSA
VDDA
VREFHI
A0
B0
A1
B1
A2
(agnd) VSSA
(3.3V) VDDA
ADC1VREFHI
ADC1A0
ADC1B0
COMP1A
ADC1A2
AIO2
COMP1
DAC 10-bit
ADC1A3
ADC1B3
ADC1A4
B2
A3
B3
A4
COMP2A
AIO4
DAC 10-bit
COMP3A
AIO6
4 shared with AIO & COMP
3 DAC for COMPx input
thresholds
COMP2 for comparing two
analog signals
VREFLO on B5
AIO configured as inputs
and disabled at reset
ADC-1
12-bit
16-ch
2 S/H
B4
A5
B5
A6
AIO12
ADC1A6
6 analog-only input pins
COMP2
COMP2B
ADC1B4
COMP3
DAC 10-bit
B6
A7
B7
ADC1A7
ADC1B7
A0, B0, A3, B3, A7, B7
A2, A4, B4, A6
ADC2 Input Pin Connections
VREFLO
VSSA
VDDA
VREFHI
A0
B0
A1
B1
A2
(agnd) VSSA
(3.3V) VDDA
ADC2VREFHI
ADC2A0
ADC2B0
ADC2A2
COMP4A
AIO18
COMP4
DAC 10-bit
ADC2A3
ADC2B3
ADC2A4
B2
A3
B3
A4
COMP5A
AIO20
DAC 10-bit
COMP5
B4
A5
B5
A6
COMP5B
ADC2B4
AIO28
COMP6A
ADC2A6
AIO22
6 analog-only input pins
4 shared with AIO & COMP
3 DAC for COMPx input
thresholds
COMP5 for comparing two
analog signals
VREFLO on B5
AIO configured as inputs
and disabled at reset
ADC-2
12-bit
16-ch
2 S/H
COMP6
DAC 10-bit
ADC2A7
ADC2B7
B6
A7
B7
A0, B0, A3, B3, A7, B7
A2, A4, B4, A6
Same connections as ADC1
F28M35x Workshop
81
Analog Subsystem
ADC Shared Inputs
VREFLO
VSSA
VDDA
VREFHI
A0
B0
A1
B1
A2
(agnd) VSSA
(3.3V) VDDA
ADC1VREFHI
ADC1A0
ADC1B0
ADC1A2
COMP1A
AIO2
B2
A3
B3
A4
COMP2A
AIO4
DAC 10-bit
COMP3A
AIO6
COMP3
DAC 10-bit
B6
A7
B7
ADC1A7
ADC1B7
VREFLO
VSSA
VDDA
VREFHI
A0
B0
A1
B1
A2
(agnd) VSSA
(3.3V) VDDA
ADC2VREFHI
ADC2A0
ADC2B0
ADC2A2
COMP4A
AIO18
B2
A3
B3
A4
COMP5A
AIO20
DAC 10-bit
ADC safety verification
Critical signals converted by 2
ADCs
6 independent 10-bit DACs
ADC-2
12-bit
16-ch
2 S/H
B4
A5
B5
A6
AIO28
COMP6A
ADC2A6
Redundant channels does
not waste pins
COMP5
COMP5B
ADC2B4
COMP4
DAC 10-bit
ADC2A3
ADC2B3
ADC2A4
12-bit
16-ch
2 S/H
B4
A5
B5
A6
AIO12
ADC1A6
ADC1A0 = ADC1A0 & ADC2A1
ADC1B0 = ADC1B0 & ADC2B1
ADC2A0 = ADC1A1 & ADC2A0
ADC2B0 = ADC1B1 & ADC2B0
ADC-1
COMP2
COMP2B
ADC1B4
AIO22
4 Shared analog input pins:
DAC 10-bit
ADC1A3
ADC1B3
ADC1A4
COMP1
COMP6
DAC 10-bit
B6
A7
B7
ADC2A7
ADC2B7
Conversion Trigger
ADC Conversion Trigger
Master Subsystem
• M3 NVIC
• uDMA triggers
No Trigger (default)
TINT0
TINT1
TINT2
NVIC
GPTRIP5
uDMA
ADCINT1
ADCINT2
TRIG1
… … ADC1
&
ADCINT8
ADC2
… ...
TRIG2
TRIG7
SOCA
SOCB
PWMSYNC
SOCA
SOCB
PWMSYNC
C28
CPU
Timers
C28
GPIO
Mux
EPWM1
EPWM2
TRIG8
PIE
… ...
SOCA
SOCB
PWMSYNC
SOCA
SOCB
PWMSYNC
DMA
Control Subsystem
• C28 PIE interrupt vectors
• DMA triggers
TRIGnSEL
… ...
EPWM8
EPWM9
Multiplexer selects
trigger source
8 triggers shared by
ADC1 & ADC2
ADC configuration
registers select one of
the 8 triggers to initiate
a conversion
Can sample 4 signals
simultaneously
4 compare registers
from ePWM adds more
SOC flexibility
SOCA/B from CMPA/B/C/D
Interrupts share by
ADC1 & ADC2
Goes to both Subsystems
Each SOC can be configured to start on one of many input triggers. Multiple SOC’s can be
configured for the same channel if desired. Following is a list of the available input triggers:
82
F28M35x Workshop
Analog Subsystem
•
•
•
•
Software
CPU Timers 0/1/2 interrupts
XINT2 SOC
ePWM1-9 SOCA and SOCB
Additionally ADCINT1 and ADCINT2 can be fed back to trigger another conversion. This
configuration is controlled in the ADCINTSOCSEL1/2 registers. This mode is useful if a
continuous stream of conversions is desired
Each SOC can be configured to convert any of the available ADCIN input channels. When an
SOC is configured for sequential sampling mode, the four bit CHSEL field of the ADCSOCxCTL
register defines which channel to convert.
When an SOC is configured for simultaneous sampling mode, the most significant bit of the
CHSEL field is dropped and the lower three bits determine which pair of channels is converted.
ADCINA0 is shared with VREFHI, and therefore cannot be used as a variable input source when
using external reference voltage mode.
Conversion Priority
ADC Conversion Priority
When
multiple SOC flags are set at the same
time – priority determines the order in which
they are converted
Round Robin Priority (default)
High Priority
F28M35x Workshop
No SOC has an inherent higher priority than
another
Priority depends on the round robin pointer
High priority SOC will interrupt the round robin
wheel after current conversion completes and
insert itself as the next conversion
After its conversion completes, the round robin
wheel will continue where it was interrupted
83
Analog Subsystem
Round Robin
High Priority
Conversion Priority Functional Diagram
SOC0
SOC1
SOC2
SOC3
SOC4
SOC5
SOC6
SOC7
SOC8
SOC9
SOC10
SOC11
SOC12
SOC13
SOC14
SOC15
SOC Priority
Determines cutoff point
for high priority and
round robin mode
SOCPRIORITY
AdcRegs.SOCPRICTL
RRPOINTER
Round Robin Pointer
Points to the last converted
round robin SOCx and
determines order
of conversions
Round Robin Priority Example
SOCPRIORITY configured as 0;
RRPOINTER configured as 15;
SOC0 is highest RR priority
SOC
15
SOC7 trigger received
SOC7 is converted;
RRPOINTER now points to SOC7;
SOC8 is now highest RR priority
SOC12 is converted;
RRPOINTER points to SOC12;
SOC13 is now highest RR priority
SOC
1
SOC
14
SOC
2
SOC
3
SOC
13
SOC
12
SOC2 & SOC12 triggers received
simultaneously
SOC
0
SOC
4
RRPOINTER
SOC
5
SOC
11
SOC
6
SOC
10
SOC
9
SOC
8
SOC
7
SOC2 is converted;
RRPOINTER points to SOC2;
SOC3 is now highest RR priority
84
F28M35x Workshop
Analog Subsystem
High Priority Example
SOCPRIORITY configured as 4;
RRPOINTER configured as 15;
SOC4 is highest RR priority
High Priority
SOC7 trigger received
SOC
0
SOC7 is converted;
RRPOINTER points to SOC7;
SOC8 is now highest RR priority
SOC
4
SOC
15
SOC
5
SOC
14
SOC
6
SOC
1
SOC
13
SOC2 & SOC12 triggers received
simultaneously
SOC
2
SOC2 is converted;
RRPOINTER stays pointing to SOC7
SOC
3
SOC
7
RRPOINTER
SOC
8
SOC
12
SOC
11
SOC
10
SOC12 is converted;
RRPOINTER points to SOC12;
SOC13 is now highest RR priority
SOC
9
ADC Accessibility
S/H
S/H
COMP1
COMP2
COMP3
ADC2
S/H
S/H
F28M35x Workshop
COMP4
COMP5
COMP6
Analog Common Interface Bus (ACIB)
ADC1
Round-robin arbitration
Master
Subsystem
uDMA
32-Channel
1.
2.
3.
4.
5.
M3
M3 uDMA
C28 read
C28 write
C28 DMA read/write
DMA
6-Channel
Control
Subsystem
Resource
ADC Results
COMP_DAC
ADC Config
GPIO
C28 C28 M3 M3
DMA
uDMA
yes
yes
yes
yes
yes
yes
yes
yes
yes
-
yes
-
85
Analog Subsystem
Interrupts
ADC Interrupts
C28-DMA
&
M3-uDMA
M3-uDMA
ADCINT1n
ADCINT2n
ADCINT3n
ADCINT4n
ADCINT5n
ADCINT6n
ADCINT7n
ADCINT8n
ADC1
&
ADC2
Analog
CIB
ADCINT1n
ADCINT2n
ADCINT3n
ADCINT4n
ADCINT5n
ADCINT6n
ADCINT7n
ADCINT8n
C28-PIE
M3-NVIC
TRIG1
TRIG
MUX
TRIG8
8 interrupts are shared by ADC1 & ADC2
8 C28-DMA / M3-uDMA triggers & 8 C28-PIE / M3-NVIC
interrupt vectors
Phase shifting SOC triggers allows interleaving ADC1 &
ADC2 resulting in individual ADC1 & ADC2 interrupts
for the same interrupt flag
Clock Configuration
ADC Clock Configuration
Device Configuration
Examples
C28
M3
ACIBCLK = ADCCLK
ADC1 & ADC2
MHz
MHz
(Div Ratio To
C28 MHz)
MHz
(Div Ratio To C28
MHz)
MSPS (ADCCLK/13)
Max MIPS Device
150.0
75.0 (/2)
37.5 (/4)
2 x 2.885
Max M3 MIPS Device
100.0
100.0 (/1)
25.0 (/4)
2 x 1.923
Low End MIPS Device
60.0
60.0 (/1)
30.0 (/2)
2 x 2.308
ADCCLK is synchronous to C28
ACIBCLK = C28CLK/CLKDIV
ADCCLK = ACIBCLK
ADCCLK = (150MHz/4) = 37.5MHz
At reset, ADCCLK = 10MHz OSC
5.77 MSPS Max conversion rate
86
CLKDIV= 1, 2, 4, or 8 (default at reset)
ACIB = Analog Common Interface Bus
Each ADC Sample Rate
37.5MHz/13 = 2.885MSPS
F28M35x Workshop
Analog Subsystem
Analog Comparators
Analog Comparators
VREFLO
VSSA
VDDA
VREFHI
A0
B0
A1
B1
A2
(agnd) VSSA
(3.3V) VDDA
ADC1VREFHI
ADC1A0
ADC1B0
ADC1A2
COMP1A
AIO2
COMP1
DAC 10-bit
ADC1A3
ADC1B3
ADC1A4
B2
A3
B3
A4
COMP2A
AIO4
DAC 10-bit
12-bit
16-ch
2 S/H
B4
A5
B5
A6
AIO12
ADC1A6
ADC-1
COMP2
COMP2B
ADC1B4
COMP3A
AIO6
COMP3
DAC 10-bit
B6
A7
B7
ADC1A7
ADC1B7
AGPIO0/../7
Analog
SubSystem
GPIO Mux
Total of 6 analog
comparators with 6
internal 10-bit DACs
Inputs for each analog
comparator:
2 external analog inputs
1 external analog input
and use internal 10-bit
DAC reference for other
input
Comp
Output
Filtering
OR
VREFLO
VSSA
VDDA
VREFHI
A0
B0
A1
B1
A2
(agnd) VSSA
(3.3V) VDDA
ADC2VREFHI
ADC2A0
ADC2B0
COMP4A
ADC2A2
COMP4
AIO18
DAC 10-bit
ADC2A3
ADC2B3
ADC2A4
B2
A3
B3
A4
COMP5A
AIO20
DAC 10-bit
COMP5
COMP5B
ADC2B4
B4
A5
B5
A6
AIO28
COMP6A
ADC2A6
COMP6
AIO22
DAC 10-bit
ADC2A7
ADC2B7
Each ADC module has 3
analog comparators with
3 internal 10-bit DACs
B6
A7
B7
ADC-2
12-bit
16-ch
2 S/H
All 6 COMPnOUT can be
externally connected to
GPIO pins ( can connect
to ePWM Trip-Zone
module)
The comparator module is a true analog voltage comparator in the VDDA domain. The analog
portion of the block includes:
•
•
•
Comparator
Inputs and outputs
Internal DAC reference
The digital circuits include the DAC controls, interface to other on-chip logic, output qualification
block, and the control signals.
The comparator block can accommodate two external analog inputs or one external analog input
using the internal DAC reference for the other input. The output of the comparator can be passed
asynchronously or qualified and synchronized to the system clock period.
The comparator output can be externally connected to a GPIO in order to connect to an ePWM
Trip Zone module.
F28M35x Workshop
87
Analog Subsystem
Comparator Block Diagram
COMPDACE
SYNCSEL
Input Pin A
+
COMPx
Input Pin B
VDDA
1
10-bit
DAC
VSSA
DACVAL
V
-
88
1
SYSCLKOUT
0
Sync/
Qual
COMPSOURCE
DAC Reference
V=
0
DACVAL * (VDDA – VSSA)
1023
CMPINV
ePWM
Event
COMPxTRIP Trigger
&
1
GPIO
MUX
0
QUALSEL
COMPSTS
Comparator Truth Table
Voltages
Output
Voltage A < Voltage B
0
Voltage A > Voltage B
1
F28M35x Workshop
Lab 4: Capture ePWM waveform with ADC
Lab 4: Capture ePWM waveform with ADC
Objective
The objective of this lab exercise is to demonstrate and become familiar with the operation of the
on-chip analog-to-digital converter and ePWM module. ePWM1A will be setup to generate a 2
kHz, 50% duty cycle symmetric PWM waveform. The waveform will then be sampled with the onchip analog-to-digital converter and displayed using the graphing feature of Code Composer
Studio. The ADC has been setup to sample a single input channel at a 50 kHz sampling rate and
store the conversion result in a buffer in the C28 Control subsystem memory. This buffer
operates in a circular fashion, such that new conversion data continuously overwrites older
results in the buffer. This lab exercise consists of two parts. The first part will configure the
ePWM waveform generation and the second part will configure the ADC capture.
Lab 4: Analog Subsystem
LED LD3
LED LD2
Capture
C28
PWM waveform with ADC
project:
Part
1 – C28 project generates 2 kHz waveform
Part 2 – C28 project captures waveform with ADC and
displayed with CCS
Blinks LED LD2 unchanged from Lab3
M3
project runs unchanged from Lab2
Part 1 – ePWM Waveform Generation
Procedure
Create a New Project – C28 Control Subsystem
1. The Lab3_C28 project will be used as a starting point for this part of the lab exercise. Right
click on project Lab3_C28 and select “Copy” followed by “Paste”. A “Copy Project” window
will open.
In the Project name field rename the project to Lab4-1_C28. Uncheck the “Use default
location” box. Click the Browse… button and navigate to:
C:\F28M35x\Labs\Lab4-1\C28
Click OK, and then OK again to copy the project.
F28M35x Workshop
89
Lab 4: Capture ePWM waveform with ADC
2. Close the Lab3_C28 project by right-clicking on the project in the Project Explorer window
and select Close Project.
3. Next, in the Lab4-1_C28 project delete the “Debug” folder.
4. Then rename file Lab3_C28.c to Lab4-1_C28.c.
Edit Source File Lab4-1_C28.c
5. Edit Lab4-1_C28.c as follows – at the beginning of the function “main()” add a new line after
the “EALLOW” instruction to assign ePWM1A to pin GPIO0:
GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 1;
// GPIO0 = ePWM1A
6. Next, after the function call to “InitFlash()” add new instructions to define ePWM1A:
EPwm1Regs.TBCTL.all = 0;
// clear all bits in TBCTL
EPwm1Regs.TBCTL.bit.CLKDIV = 0;
// CLKDIV = “div by 1”;
EPwm1Regs.TBCTL.bit.HSPCLKDIV = 0;
// HSPCLKDIV = “div by 1”
EPwm1Regs.TBCTL.bit.CTRMODE = 2;
// count mode = up-down mode
EPwm1Regs.AQCTLA.all = 0x0006;
// ZRO=set; PRD=clear
EPwm1Regs.TBPRD = 37500;
// 2 kHz PWM frequency
// TBPRD = fcpu / (2* fpwm * CLKDIV * HSPCLKDIV)
// TBPRD = 150 MHz / (2 * 2 kHz * 1 * 1)
Build the C28 Control Subsystem Project
7. Click the “Build” button and watch the tools run in the “Console” window. Check for errors in
the “Problems” window.
Create a New Project – M3 Master Subsystem
8. The Lab3_M3 project will be used as a starting point for this part of the lab exercise. Right
click on project Lab3_M3 and select “Copy” followed by “Paste”. A “Copy Project” window
will open.
In the Project name field rename the project to Lab4-1_M3. Uncheck the “Use default
location” box. Click the Browse… button and navigate to:
C:\F28M35x\Labs\Lab4-1\M3
Click OK, and then OK again to copy the project.
9. Close the Lab3_M3 project by right-clicking on the project in the Project Explorer window and
select Close Project.
10. Next, in the Lab4-1_M3 project delete the “Debug” folder.
11. Then rename file Lab3_M3.c to Lab4-1_M3.c.
Edit Source File Lab4-1_M3.c
12. Edit Lab4-1_M3.c – in the function “main()” we need to select control for pin GPIO0 to the
C28 Control subsystem. The code in “main()” already selects control for GPIO70 (LED LD3)
to the C28 Control subsystem. Now, add the following two lines to select control of GPIO0
after the existing instructions for GPIO70:
// Enable Clock Supply for GPIOA
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
// Give C28 control of Port A pin 0
GPIOPinConfigureCoreSelect(GPIO_PORTA_BASE, GPIO_PIN_0, GPIO_PIN_C_CORE_SELECT);
90
F28M35x Workshop
Lab 4: Capture ePWM waveform with ADC
Build the M3 Master Subsystem Project and Program Flash
13. Click the “Build” button and watch the tools run in the “Console” window. Check for errors in
the “Problems” window.
14. Program the flash memory by clicking the “Debug” button (green bug) or click RunDebug.
After successfully programming the flash memory the “Progress Information” box will close.
Dual Subsystem Debugging
15. The “Debug” window should reflect the current status of the two subsystems showing the
Cortex_M3_0 as connected (suspended), and C28xx_0 as disconnected. Now in the
“Debug” window highlight the C28xx_0 (Disconnected : Unknown) line and right click and
select “Connect Target”. With the line still highlighted, load the program by clicking:
Run Load Load Program…
and Browse to C:\F28M35x\Labs\Lab4-1\C28\Debug\Lab4-1_C28.out
Select Open and then OK to program the flash memory.
16. In the “Debug” window left click on the line Texas Instruments XDSv2 USB
Emulator_0/C28xx_0 and then click the “Reset CPU” icon.
17. Next in the “Debug” window left click on the line Texas Instruments XDSv2 USB
Emulator_0/Cortex_M3_0 and the click the “Reset CPU” icon.
Running the Dual Subsystem
18. In the “Debug” window highlight the C28 subsystem and run the code by clicking the Resume
icon (or F8). The C28 runs into an “Idle” instruction in the boot ROM code and waits for an
IPC command from the M3 subsystem.
19. Next in the “Debug” window highlight the M3 subsystem and run the code (Resume icon or
F8). Both the C28 and M3 subsystems should now be running and both LEDs LD2 and LD3
should be blinking.
20. If an oscilloscope is available, connect it to pin GPIO0. The 100-pin connector on the
docking station is marked as J1 and the pins are numbered according to their GPIO numbers.
GPIO0 is labeled as the “00” pin:
Note: The waveform will be viewed using CCS in the next part without an oscilloscope.
Terminate Debug Session
21. Terminate the active debug session using the Terminate button.
F28M35x Workshop
91
Lab 4: Capture ePWM waveform with ADC
End of Part 1
Part 2 – ADC Capture
In this part the ADC will be configured to capture the ePWM1A waveform that was generated in
the previous part. Samples will be stored in a circular buffer and displayed using the CCS
graphing feature.
Procedure
Create a New Project – C28 Control Subsystem
1. The Lab4-1_C28 project will be used as a starting point for this part of the lab exercise. Right
click on project Lab4-1_C28 and select “Copy” followed by “Paste”. A “Copy Project” window
will open.
In the Project name field rename the project to Lab4-2_C28. Uncheck the “Use default
location” box. Click the Browse… button and navigate to:
C:\F28M35x\Labs\Lab4-2\C28
Click OK, and then OK again to copy the project.
2. Close the Lab4-1_C28 project by right-clicking on the project in the Project Explorer window
and select Close Project.
3. Next, in the Lab4-2_C28 project delete the “Debug” folder.
4. Then rename file Lab4-1_C28.c to Lab4-2_C28.c.
Add Files to Project – C28 Control Subsystem
5. Add (“copy files”) the following source files to the project by right-clicking on Lab4-2_C28 in
the “Project Explorer” window and selecting Add Files…
File: F28M35x_Adc.c
File: F28M35x_usDelay.asm
Folder: C:\F28M35x\Device_support\F28M35x_common\source
Edit Source File Lab4-2_C28.c
6. At the beginning of the file Lab4-2_C28.c, replace the function declaration “cpu_timer0_isr()”
by a new declaration for the ADC interrupt service routine:
interrupt void adc1_isr(void);
7. Then add three new global variables “ConversionCount”, “Voltage_C28[100]”, and
“GPIO70_count”. The first two variables will be used to buffer the ADC samples in a circular
memory and the last variable will be used for the blink rate of LED LD2:
Uint16 ConversionCount = 0;
Uint16 Voltage_C28[100]= {0};
Uint16 GPIO70_count;
8. In function “main()”, change the code line for the adjustment of the interrupt table entry by
removing the line for Timer0 and add a new line for the ADC:
PieVectTable.ADCINT1
92
= &adc1_isr;
F28M35x Workshop
Lab 4: Capture ePWM waveform with ADC
9. Change the enable instruction for the PIEIER1 register to enable the ADC (1.1) instead of the
Timer 0 (1.7):
PieCtrlRegs.PIEIER1.bit.INTx1 = 1;
10. Change the period for CPU Timer0 from 125 milliseconds into 20 microseconds (for an ADC
sampling frequency of 50 kHz) by a modification to the following line:
ConfigCpuTimer(&CpuTimer0,C28_FREQ,20);
11. Before the code in “main()” enters the “while(1)” loop, add code to initialize the ADC1:
InitAdc1();
EALLOW;
Adc1Regs.ADCCTL2.bit.ADCNONOVERLAP = 1;
Adc1Regs.ADCCTL1.bit.INTPULSEPOS
Adc1Regs.INTSEL1N2.bit.INT1E
Adc1Regs.INTSEL1N2.bit.INT1CONT
Adc1Regs.INTSEL1N2.bit.INT1SEL
Adc1Regs.ADCSOC0CTL.bit.CHSEL
AnalogSysctrlRegs.TRIG1SEL.all
Adc1Regs.ADCSOC0CTL.bit.TRIGSEL
=
=
=
=
=
=
=
Adc1Regs.ADCSOC0CTL.bit.ACQPS
= 6;
EDIS;
1;
1;
0;
0;
0;
1;
5;
//
//
//
//
//
//
//
//
//
//
//
//
//
Enable non-overlap mode i.e.
conversion and future sampling
events don’t overlap
ADCINT1 trips after AdcResults latch
Enabled ADCINT1
Disable ADCINT1 Continuous mode
setup EOC0 to trigger ADCINT1 to fire
set SOC0 channel select to ADC1in_A0
Assigning TINT0 to ADC-TRIGGER 1
Set SOC0 start trigger to
ADC Trigger 1 of the ADC
set SOC0 S/H Window to 7 ADC
Clock Cycles, (6 ACQPS + 1)
12. At the end of the file replace function “cpu_timer0_isr” by a new function:
interrupt void adc1_isr(void)
{
Voltage_C28[ConversionCount] = Adc1Result.ADCRESULT0;
if(ConversionCount == 100) ConversionCount = 0;
else ConversionCount++;
if(GPIO70_count++ > 6250)
{
GpioG1DataRegs.GPCDAT.bit.GPIO70 ^= 1;
GPIO70_count = 0;
}
Adc1Regs.ADCINTFLGCLR.bit.ADCINT1 = 1;
PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
}
Build the C28 Control Subsystem Project
13. Click the “Build” button and watch the tools run in the “Console” window. Check for errors in
the “Problems” window.
Create a New Project – M3 Master Subsystem
14. The Lab4-1_M3 project will be used as a starting point for this part of the lab exercise. Right
click on project Lab4-1_M3 and select “Copy” followed by “Paste”. A “Copy Project” window
will open.
In the Project name field rename the project to Lab4-2_M3. Uncheck the “Use default
location” box. Click the Browse… button and navigate to:
C:\F28M35x\Labs\Lab4-2\M3
Click OK, and then OK again to copy the project.
F28M35x Workshop
93
Lab 4: Capture ePWM waveform with ADC
15. Close the Lab4-1_M3 project by right-clicking on the project in the Project Explorer window
and select Close Project.
16. Next, in the Lab4-2_M3 project delete the “Debug” folder.
17. Then rename file Lab4-1_M3.c to Lab4-2_M3.c.
Build the M3 Master Subsystem Project and Program Flash
18. Click the “Build” button and watch the tools run in the “Console” window. Check for errors in
the “Problems” window.
19. Program the flash memory by clicking the “Debug” button (green bug) or click RunDebug.
After successfully programming the flash memory the “Progress Information” box will close.
Dual Subsystem Debugging
20. The “Debug” window should reflect the current status of the two subsystems showing the
Cortex_M3_0 as connected (suspended), and C28xx_0 as disconnected. Now in the
“Debug” window highlight the C28xx_0 (Disconnected : Unknown) line and right click and
select “Connect Target”. With the line still highlighted, load the program by clicking:
Run Load Load Program…
and Browse to C:\F28M35x\Labs\Lab4-2\C28\Debug\Lab4-2_C28.out
Select Open and then OK to program the flash memory.
21. In the “Debug” window left click on the line Texas Instruments XDSv2 USB
Emulator_0/C28xx_0 and then click the “Reset CPU” icon.
22. Next in the “Debug” window left click on the line Texas Instruments XDSv2 USB
Emulator_0/Cortex_M3_0 and the click the “Reset CPU” icon.
Running the Dual Subsystem
23. In the “Debug” window highlight the C28 subsystem and run the code by clicking the Resume
icon (or F8). The C28 runs into an “Idle” instruction in the boot ROM code and waits for an
IPC command from the M3 subsystem.
24. Next in the “Debug” window highlight the M3 subsystem and run the code (Resume icon or
F8). Both the C28 and M3 subsystems should now be running and both LEDs LD2 and LD3
should be blinking.
Inspect ADC Samples
25. Using a connector wire provided, connect the PWM1A (pin # GPIO-00) to ADCINA0 (pin #
ADC-A0) on the Docking Station.
26. After a few seconds halt the C28 Control subsystem using the “Suspend” button on the
toolbar (or alt+F8).
27. Add the variable “Voltage_C28” to the Expressions window by clicking the “Expressions” tab
at the top of the window. In the empty box in the Expression column (Add new expression),
type Voltage_C28 and then enter. (Note that the expressions window can be manually
opened by clicking View Expressions on the menu bar).
94
F28M35x Workshop
Lab 4: Capture ePWM waveform with ADC
The ePWM generated waveform is sampled by the ADC. The input range for the ADC is
between 0V and 3.3V. For the PWM waveform, this would give 12-bit ADC samples close to
0 or almost 4095.
Graph PWM Waveform
28. Open and setup a graph to plot a 100-point window of the ADC results buffer.
Click: Tools Graph Single Time and set the following values:
Acquisition Buffer Size
100
DSP Data Type
16-bit unsigned integer
Sampling Rate (Hz)
50000
Start Address
Voltage_C28
Display Data Size
100
Time Display Unit
µs
Select OK to save the graph options.
The graphical display should show the generated 1 kHz, 50% duty cycle symmetric PWM
waveform. The period of a 1 kHz signal is 1 ms. You can confirm this by measuring the
period of the waveform using the “measurement marker mode” graph feature. In the graph
window toolbar, left-click on the ruler icon with the red arrow. Note when you hover your
mouse over the icon, it will show “Toggle Measurement Marker Mode”. Move the
mouse to the first measurement position and left-click. Again, left-click on the Toggle
Measurement Marker Mode icon. Move the mouse to the second measurement position
and left-click. The graph will automatically calculate the difference between the two values
taken over a complete waveform period. When done, clear the measurement points by rightclicking on the graph and select Remove All Measurement Marks (or Ctrl+Alt+M).
F28M35x Workshop
95
Lab 4: Capture ePWM waveform with ADC
Graph view of variable “Voltage_C28[100]”:
Terminate Debug Session
29. Terminate the active debug session using the Terminate button.
End of Exercise
96
F28M35x Workshop
Inter-Processor Communications (IPC)
Inter-Processor Communications (IPC)
IPC Device Features
Shared
SARAM
Message
SARAM
IPC
Message Registers
IPC
Interrupts and Flags
Clock
Configuration Semaphore
Flash
Pump Semaphore
Free
SSI
Running Counter
to SPI and UART to I2C Loopback
Shared SARAM and Message SARAM
IPC Shared SARAM
Up
to 8 Blocks (S0 - S7)
8Kbytes
Can
each
be configured to be used by M3 or C28
Typically
Also
used by the application
can be used to pass messages
Master Subsystem
Ownership
Control Subsystem
M3 CPU
uDMA
C28
DMA
Master Subsystem*
R/W/Exe
R/W
R
R
Control Subsystem
R
R
R/W/Exe
R/W
* default
There are up to 8 blocks of shared SARAM on F28M35x devices. These shared SARAM blocks
are typically used by the application, but can also be used for transferring messages and data.
F28M35x Workshop
97
Inter-Processor Communications (IPC)
Each block can individually be owned by either the master subsystem or the control subsystem.
Master Subsystem ownership:
At reset, the master subsystem owns all of the shared SARAM blocks. In this configuration the
master subsystem can freely use the memory blocks. The M3 can read, write or execute from
the block and the µDMA can read or write.
On the control subsystem, the C28x and C28x DMA can only read from these blocks. Blocks
owned by the master subsystem can be used by the M3 to send the C28x messages. This is
referred to as “MtoC”.
Control Subsystem ownership:
After reset, the M3 application can assign ownership of blocks to the control subsystem. In this
configuration, control subsystem can freely use the blocks. The C28x can read, write or execute
from the block. The master subsystem, however can only read from the block. Blocks owned by
the control subsystem can be used can be used to send messages from the C28x to the M3. This
is referred to as “CtoM”.
IPC Message SARAM
2
Blocks
2Kbytes
each Block
Used
to pass messages or data between the M3
and C28 CPU’s
Always
enabled – configuration is fixed
Master Subsystem
Message RAM
Control Subsystem
M3 CPU
uDMA
C28
DMA
Master to Control (“MtoC”)
R/W
R
R
R
Control to Master (“CtoM”)
R
R
R/W
R
The F28M35x has two dedicated message RAM blocks. Each block is 2 Kbytes in length. Unlike
the shared SARAM blocks, these blocks provide communication in one direction only and cannot
be reconfigured.
Master to Control “MtoC” message RAM:
The first message SARAM is the Master to Control or MtoC. This block can be read or written to
by the M3 and read by the C28. The M3 can write a message to this block and then the C28 can
read it.
Control to Master “CtoM” message RAM:
The second message SARAM is the Control to Master or CtoM. This block can be read or written
to by the C28 and read by the M3. This means the C28 can write a message to this block and
then the M3 can read it. After the sending CPU writes a message it can inform the receiver CPU
that it is available through an interrupt or flag.
98
F28M35x Workshop
Inter-Processor Communications (IPC)
IPC Message Registers
Provides
very simple and flexible messaging
Dedicated
registers mapped to both CPU’s
IPCCOMMAND
IPCADDR
IPCDATAWRITE
IPCDATAREAD
The
definition (what the register content
means) is up to the application software
TI’s
IPC-Lite drivers use the IPC message
registers
Interrupts and Flags
IPC Interrupts and Flags
Master to Control:
4 interrupts & 28 flags w/o interrupt
Control to Master:
4 interrupts & 28 flags w/o interrupt
Requesting CPU Set, Flag and Clear registers
Register
IPCSET
Message waiting (send interrupt and/or set flag)
IPCFLG
Bit is set by the “SET” register
IPCCLR
Clear the flag
Receiving CPU Status and Acknowledge registers
Register
IPCSTS
Status (reflects the FLG bit)
IPCACK
Clear STS and FLG
Prefix indicates request and receive CPU: MTOCIPCSET / CTOMIPCSET
When the sending CPU wishes to inform the receiver that a message is ready, it can make use of
an interrupt or flag. There are identical IPC interrupt and flag resources reside on both the
master sub-system and the control sub-system.
F28M35x Workshop
99
Inter-Processor Communications (IPC)
4 Interrupts:
There are 4 interrupts that the Master M3 can send to the Control C28 through the control
system’s peripheral interrupt expansion (PIE) module. Likewise there are 4 interrupts the C28
can send to the M3 Master through the NIVC (Nested Vectored Interrupt Controller). Each of the
interrupts has a dedicated vector within the PIE or the NVIC.
28 Flags:
In addition, there are 28 flags available to each of the subsystems. These flags can be used for
messages that are not time critical or they can be used to send status back to originating
processor. The flags and interrupts can be used however the application sees fit and are not tied
to particular operation in hardware.
Registers: Set, Flag, Clear, Status and Acknowledge:
The registers to control the IPC interrupts and flags are 32-bits: Bits [3:0] = interrupt & flag, Bits
[31:4] = flag only
IPC Data Transfer
Basic IPC Data Transfer
Basic
option – no software drivers needed
and easy to use!
Use
the message SARAM’s and shared SARAM’s
(Sx blocks) to pass data between processors at a
known address
Use the IPC flag registers to tell the other
processor that the data is ready
C28 Application
M3 Application
1: Write a message
to MtoC MSG RAM
Message
MtoC MSG RAM
CtoM MSG RAM
2: Write 1 to
MTOCIPCSET bit
Sx Shared
SARAM’s
MTOCIPCFLG
3: sees MTOCIPCSTS
bit is set
4: read message
5: write 1 to
MTOCIPCACK bit
MTOCIPCSTS
The F28M35x IPC is very easy to use. Before looking into the details of the IPC software drivers,
at the most basic level, the application doesn’t need ANY separate software drivers to
communicate between processors. It can utilize the message RAM’s and shared SARAM blocks
to pass data between processors at a fixed address known to both processors. Then the sending
processor can use the IPC flag registers merely to flag to the receiving processor that the data is
ready. Once the receiving processor has grabbed the data, it will then acknowledge the
corresponding IPC flag to indicate that it is ready for more messages.
As an example:
1. First, the M3 would write a message to the C28 in MtoC MSG RAM.
2. Then the M3 would write a 1 to the appropriate flag bit in the MTOCIPCSET register.
This sets the MTOCIPCFLG, which also sets the MTOCIPCSTS register on the C28,
letting the C28 know that a message is available.
100
F28M35x Workshop
Inter-Processor Communications (IPC)
3. The C28 sees that a bit in the MTOCIPCSTS register is set.
4. The C28 reads the message from the MtoC MSG RAM and then
5. It writes a 1 to the same bit in the MTOCIPCACK register to acknowledge that it has
received the message. This subsequently clears the flag bit in MTCOIPCFLG and
MTOCIPCSTS.
6. The M3 can then send more messages using that particular flag bit.
IPC Software Solutions Summary
Basic
No
Option
software drivers needed
IPC registers only (simple message passing)
Uses
IPC-Lite
Software API Driver
Uses
IPC registers only (no memory used)
Limited to 1 IPC interrupt at a time
Limited to 1 command/message at a time
M3 can use IPC-Lite to communicate with C28 boot
ROM
Main
IPC Software API Driver
Uses
circular buffers message RAMs
queue up to 4 messages prior to processing
(configurable)
Can use multiple IPC ISRs at a time
Requires additional setup in application code prior to
use
Can
There are three options to use the IPC on the device.
Basic option: A very simple option that does not require any drivers. This option only requires
IPC registers to implement very simple flagging of messages passed between processors.
Driver options: If the application code needs a set of basic IPC driver functions for reading or
writing data, setting/clearing bits, and function calls, then there are 2 IPC software driver solutions
provided by TI.
IPC-Lite:
•
•
•
•
Only uses the IPC registers. No additional memory such as message RAM or shared
RAM is needed.
Only one IPC ISR can be used at a time.
Can only process one message at a time.
M3 can use IPC lite to communicate with the C28 boot ROM. The C28 boot ROM
processes basic IPC read, write, bit manipulation, function call, and branch commands.
Main IPC Software API Driver: (This is a more feature filled IPC solution)
•
•
•
•
Utilizes circular buffers in CtoM and MtoC message RAM’s.
Allows application to queue up to 4 messages prior to processing (configurable).
Allows application to use multiple IPC ISR’s at a time.
Requires additional setup in application code prior to use.
In addition to the above, SYS/BIOS 6 will provide a new transport module to work with the shared
memory and IPC resources on the F28M35x.
F28M35x Workshop
101
Lab 5: Data Transfer using IPC
Lab 5: Data Transfer using IPC
Objective
The objective of this lab exercise is to demonstrate and become familiar with the operation of the
Inter Processor Communication. As in the previous lab exercise, the C28 Control Subsytem ADC
has been setup to sample a single input channel at a 50 kHz sampling rate. Except this time the
ADC result will be written to the C-to-M Message RAM. The M3 Master subsystem will then read
the C-to-M Message RAM and store the results in a circular buffer. The samples will be viewed
and displayed using the graphing feature of Code Composer Studio.
Lab 5: Inter-Processor Communications
LED LD3
LED LD2
C28 subsystem:
Captures PWM waveform with ADC
ADC results written to C-to-M Message RAM
M3 subsystem:
Reads C-to-M Message RAM
Results stored in circular buffer
Results displayed using CCS
LEDs LD2 and LD3 blinks unchanged from Lab4
Procedure
Create a New Project – C28 Control Subsystem
1. The Lab4-2_C28 project will be used as a starting point for this lab exercise. Right click on
project Lab4-2_C28 and select “Copy” followed by “Paste”. A “Copy Project” window will
open.
In the Project name field rename the project to Lab5_C28. Uncheck the “Use default
location” box. Click the Browse… button and navigate to:
C:\F28M35x\Labs\Lab5\C28
Click OK, and then OK again to copy the project.
2. Close the Lab4-2_C28 project by right-clicking on the project in the Project Explorer window
and select Close Project.
3. Next, in the Lab5_C28 project delete the “Debug” folder.
4. Then rename file Lab4-2_C28.c to Lab5_C28.c.
102
F28M35x Workshop
Lab 5: Data Transfer using IPC
Edit Source File Lab5_C28.c
5. In the global variable area at the beginning of the file Lab5_C28.c add a new “pragma” and
the definition of a new variable “LatestADCResult”:
#pragma DATA_SECTION(LatestADCResult,"CtoM")
Uint16 LatestADCResult;
The #pragma directive will place variable “LatestADCResult” in a new data section
“CtoM”. Later we will use a dedicated linker command file to connect “CtoM” to the
physical address of the mailbox memory.
6. At the end of file Lab5_C28.c edit the interrupt service routine function “adc1_isr”. After the
first code line add the following two lines:
LatestADCResult = Voltage_C28[ConversionCount]; // load value into CtoM
CtoMIpcRegs.CTOMIPCSET.bit.IPC1 = 1;
// signal IPC1 to M3
These two lines will load the latest ADC sample into a single Uint16 variable of the
“CtoM” Message buffer and set the IPC1 flag, which can be sampled by the M3 Master
subsystem.
Create a New Linker Command File – Lab5_C28.cmd
7. In the Lab5_C28 project create a new linker command file by clicking:
File New Source File
and name the file Lab5_C28.cmd then click Finish.
8. In the new file enter the following:
SECTIONS
{
CtoM: > CTOMRAM, PAGE = 1
}
Save and close the file.
Build the C28 Control Subsystem Project
9. Click the “Build” button and watch the tools run in the “Console” window. Check for errors in
the “Problems” window.
Create a New Project – M3 Master Subsystem
10. The Lab4-2_M3 project will be used as a starting point for this lab exercise. Right click on
project Lab4-2_M3 and select “Copy” followed by “Paste”. A “Copy Project” window will
open.
In the Project name field rename the project to Lab5_M3. Uncheck the “Use default location”
box. Click the Browse… button and navigate to:
C:\F28M35x\Labs\Lab5\M3
F28M35x Workshop
103
Lab 5: Data Transfer using IPC
Click OK, and then OK again to copy the project.
11. Close the Lab4-2_M3 project by right-clicking on the project in the Project Explorer window
and select Close Project.
12. Next, in the Lab5_M3 project delete the “Debug” folder.
13. Then rename file Lab4-2_M3.c to Lab5_M3.c.
Edit Source File Lab5_M3.c
14. At the beginning of the Lab5_M3.c file add a new #include directive:
#include "inc/hw_ipc.h"
// new in Lab5_M3
15. In the global variable area at the beginning of the file add three new variables for the M3
Master subsystem:
unsigned int Voltage_M3[100];
unsigned int i = 0;
#pragma DATA_SECTION(AdcValue,"CtoM")
unsigned int AdcValue;
16. At the end of function “main()”, replace the “while(1);” instruction with:
while(1)
{
while(IPCCtoMFlagBusy(IPC_CTOMIPCSTS_IPC1)==0); // wait for IPC1
Voltage_M3[i]= AdcValue; // read and store result from CtoM – Ram
IPCCtoMFlagAcknowledge (IPC_CTOMIPCACK_IPC1);
// clear IPC1-flag
if(i++ >= 100)i=0;
}
This code is a simple poll of the IPC1 flag. If set, the value from the C28 Control
subsystem is read and stored in a circular buffer “Voltage_M3[i]”.
Create a New Linker Command File – Lab5_M3.cmd
17. In the Lab5_M3 project create a new linker command file by clicking:
File New Source File
and name the file Lab5_M3.cmd then click Finish.
18. In the new file enter the following:
SECTIONS
{
CtoM: > CTOMRAM, TYPE = DSECT
}
Save and close the file.
Build the M3 Master Subsystem Project and Program Flash
19. Click the “Build” button and watch the tools run in the “Console” window. Check for errors in
the “Problems” window.
104
F28M35x Workshop
Lab 5: Data Transfer using IPC
20. Program the flash memory by clicking the “Debug” button (green bug) or click RunDebug.
After successfully programming the flash memory the “Progress Information” box will close.
Dual Subsystem Debugging
21. The “Debug” window should reflect the current status of the two subsystems showing the
Cortex_M3_0 as connected (suspended), and C28xx_0 as disconnected. Now in the
“Debug” window highlight the C28xx_0 (Disconnected : Unknown) line and right click and
select “Connect Target”. With the line still highlighted, load the program by clicking:
Run Load Load Program…
and Browse to C:\F28M35x\Labs\Lab5\C28\Debug\Lab5_C28.out
Select Open and then OK to program the flash memory.
22. In the “Debug” window left click on the line Texas Instruments XDSv2 USB
Emulator_0/C28xx_0 and then click the “Reset CPU” icon.
23. Next in the “Debug” window left click on the line Texas Instruments XDSv2 USB
Emulator_0/Cortex_M3_0 and the click the “Reset CPU” icon.
Running the Dual Subsystem
24. In the “Debug” window highlight the C28 subsystem and run the code by clicking the Resume
icon (or F8). The C28 runs into an “Idle” instruction in the boot ROM code and waits for an
IPC command from the M3 subsystem.
25. Next in the “Debug” window highlight the M3 subsystem and run the code (Resume icon or
F8). Both the C28 and M3 subsystems should now be running.
Inspect ADC Samples
26. Using a connector wire provided, connect the PWM1A (pin # GPIO-00) to ADCINA0 (pin #
ADC-A0) on the Docking Station.
27. After a few seconds halt the C28 Control subsystem using the “Suspend” button on the
toolbar (or alt+F8).
Graph PWM Waveform
28. Open and setup a graph to plot a 100-point window of the ADC results buffer.
Click: Tools Graph Single Time and set the following values:
Acquisition Buffer Size
100
DSP Data Type
16-bit unsigned integer
Sampling Rate (Hz)
50000
Start Address
Voltage_C28
Display Data Size
100
Time Display Unit
µs
Select OK to save the graph options. The graphical display should show the 2 kHz, 50% duty
cycle symmetric PWM waveform.
F28M35x Workshop
105
Lab 5: Data Transfer using IPC
Graph view of variable “Voltage_C28[100]” in the C28 Control subsystem:
29. Run the C28 Control subsystem code using the “Resume” button on the toolbar (or F8 key).
30. Halt the M3 Master subsystem using the “Suspend” button on the toolbar (or alt+F8).
31. Open and setup a graph to plot a 100-point window of the ADC results buffer.
Click: Tools Graph Single Time and set the following values:
Acquisition Buffer Size
100
DSP Data Type
32-bit unsigned integer
Sampling Rate (Hz)
50000
Start Address
Voltage_M3
Display Data Size
100
Time Display Unit
µs
Select OK to save the graph options. The graphical display should show the 2 kHz, 50% duty
cycle symmetric PWM waveform.
Graph view of variable “Voltage_M3[100]” in the M3 Master subsystem:
Note:
Unsigned integer is 16-bits on the C28 Control subsystem and 32-bits on the M3
Master subsystem.
Terminate Debug Session and Close the Projects
32. Terminate the active debug session using the Terminate button.
33. Next, close the Lab5_C28 and Lab5_M3 projects by right-clicking on each project in the
Project Explorer window and select Close Project.
End of Exercise
106
F28M35x Workshop
Safety Features
Safety Features
F28M35x Safety Features
F28M35x offers Built-In Self Test resources
Dual subsystems architecture:
Ability to cross check and monitor each other
Both have access to ADC results (C28 has priority)
Dedicated RAM and peripherals
Communications and controls are separated
Enables safety compliance metrics in end
applications
Three major areas of self test configuration:
CPU Verification
Memory Verification
Peripheral Verification
Self Test Controller (STC) / Memory BIST
CPU Self Test Controller (STC/LBIST)
Clock
controller
ROM
ROM
interface
FSM
CPU_nRESET
M3
STC BYPASS/
ATE Interface
Test
controller
STC
PCR
Clock cntrl
VBUSP
interface
REG Block
&
Compare
Block
DBIST
CNTRL
misr_in1
C28
Error Interrupt
Provides high diagnostic coverage
Significantly lowers software and runtime overhead
No software BIST (Built In Self Test) code overhead in flash
Simple to configure and start BIST via register
F28M35x Workshop
107
Safety Features
Access Protection - Shared / Dedicated Memory
108
F28M35x Workshop
Safety Features
Error Detection and Correction
F28M35x Workshop
109
Safety Features
Error Correction Code (ECC)
SECDED – Single Error Correction Double Error Detection
Single-bit error detection & correction
RAM
7 bits for upper 16-bits of data
7 bits for lower 16-bits of data
7 bits for address
Double-bit error detection
ECC for data and address
8 bits for upper 64-bits of data
8 bits for lower 64-bits of data
Performance with ECC
enabled
Boot-ROM code to protect
against ECC or parity errors at
power-up
NMI to respective CPU
Error detected is logged
FLASH
Single-cycle access with either
16 or 32-bit data
Boot INIT
Performance
M3 – C0 and C1
C28 – L0, L1, M0, and M1
ECC for data and address
Ignore (optional)
Or increment counter and interrupt respective
CPU after error threshold is reached
Error detected is logged
25ns Flash access (40MHz)
128-bit wide 2-level pre-fetch
(8) 16-bit or (4) 32-bit
instructions
8-byte data cache
Same ECC design for M3 and C28
CRC - Memory Test
110
Both M3 and C28 have dedicated CRC32 modules
Each module requires their respective CPU to point to
and read memory
Calculated CRC can be compared with expected value
for memory verification
Secured memory can be verified by running the CRC
memory read code from secured memory
F28M35x Workshop
Safety Features
Register Protection
Register Protection
Protection Against Corrupting Critical System Registers
Lock
Lock pin ownership (Master or Control)
Lock shared SARAM ownership (write once lock register)
M3
“MWRALLOW”
Enable/disable M3 from writing to critical system registers
Value “a5a5a5a5” is written to MWRALLOW register
MWRALLOW is only available in privilege mode
Debugger access ignore MWRALLOW
C28
“EALLOW”
Enable/disable C28 from writing to critical registers
Includes flash control registers
Debugger accesses ignore EALLOW
Peripheral and Communication Verification
Peripheral Verification
VREFLO
VSSA
VDDA
VREFHI
A0
B0
A1
B1
A2
(agnd) VSSA
(3.3V) VDDA
ADC1VREFHI
ADC1A0
ADC1B0
ADC1A2
COMP1A
AIO2
B2
A3
B3
A4
COMP2A
AIO4
DAC 10-bit
COMP3A
AIO6
B6
A7
B7
VREFLO
VSSA
VDDA
VREFHI
A0
B0
A1
B1
A2
(agnd) VSSA
(3.3V) VDDA
ADC2VREFHI
ADC2A0
ADC2B0
COMP4A
ADC2A2
AIO18
B2
A3
B3
A4
COMP5A
AIO20
DAC 10-bit
B4
A5
B5
A6
AIO28
COMP6A
ADC2A6
AIO22
COMP6
DAC 10-bit
ADC2A7
ADC2B7
F28M35x Workshop
ADC-2
12-bit
16-ch
2 S/H
Connect PWM output to ADC input via
RC filter
Connect PWM output to input captures
B6
A7
B7
Inverter verification
COMP5
COMP5B
ADC2B4
PWM verification
COMP4
DAC 10-bit
ADC2A3
ADC2B3
ADC2A4
ADC1A0 = ADC1A0 & ADC2A1
ADC1B0 = ADC1B0 & ADC2B1
ADC2A0 = ADC1A1 & ADC2A0
ADC2B0 = ADC1B1 & ADC2B0
Redundant channels do not waste pins
Results available to both M3 and C28
12-bit
16-ch
2 S/H
COMP3
DAC 10-bit
ADC1A7
ADC1B7
Both converters share 4 inputs
ADC-1
B4
A5
B5
A6
AIO12
ADC1A6
COMP2
COMP2B
ADC1B4
ADC verification
COMP1
DAC 10-bit
ADC1A3
ADC1B3
ADC1A4
Connect PWM signal from the inverter
phases to input captures
Fault-safe
PWM trip zones disable PWMs in 20ns
111
Safety Features
DCAN
Communication Verification
Mailbox RAM Parity
Internal Loopback
SCI
TX signal internally
connected to RX
RX input buffer
disconnected
TX buffer is active
Acknowledge bits are
ignored
Internal Loopback
TX signal internally
connected to RX
TX and RX FIFO active
External Loopback
TX needs to be connected
externally to RX
Acknowledge bits are
ignored
Test in addition the RX and
TX path
M3 can “listen” to C28
SCIA TX
C28.SCIA connected to
M3.UART4
SPI
Internal Loopback
TX signal internally
connected to RX
TX and RX FIFO active
Internal Loopback with Silent
Mode
M3 can “listen” to C28
SPIA TX
Internal loopback with TX
buffer disabled
Allow test of DCAN
controller without affecting
connected CAN network
C28.SPIA connected to
M3.SSI3
Missing Clock Detection
Missing Clock Detection
No
Clock
Fail?
Yes
TZ5
ePWMs
Generate NMI
Start NMI WD
Counters
M3 NMI
M3
Response
?
OSCCLK == 10 MHz
Internal Clock
Bypass PLL
Yes
Handle
Error
C28 NMI
Handle Yes
Error &
Standby
C28
Response
?
No
No
No
No
M3 NMI
WD
Timeout
112
Yes
Device
Reset
Control
Yes
subsystem
Reset
C28 NMI
WD
Timeout
F28M35x Workshop
Other Resources – The Next Step…
Other Resources – The Next Step…
C2000 MCU Multi-day Training Course
C2000 MCU Multi-day Training Course
TMS320F2806x Workshop Outline
- Architectural Overview
- Programming Development Environment
- Peripheral Register Header Files
- Reset and Interrupts
- System Initialization
- Analog-to-Digital Converter
- Control Peripherals
- Numerical Concepts
In-depth hands-on
TMS320F28069 Design
and Peripheral
Training
- Direct Memory Access (DMA)
- Control Law Accelerator (CLA)
- Viterbi, Complex Math, CRC Unit (VCU)
- System Design
- Communications
- DSP/BIOS
- Support Resources
controlSUITE™
controlSUITE™
F28M35x Workshop
113
Other Resources – The Next Step…
Experimenter’s Kits
C2000 Experimenter’s Kits
F28069, F28035, F28027, F28335, F2808, C28343, C28346, F28M35, F28377D
Experimenter Kits include
Part Number:
TMDSDOCK28069
TMDSDOCK28035
TMDSDOCK28027
TMDSDOCK28335
TMDSDOCK2808
TMDSDOCKH52C1
TMDSDOCK28377D
JTAG emulator required for:
TMDSDOCK28343
TMDSDOCK28346-168
controlCARD
USB docking station
C2000 Applications Software CD
with example code and full
hardware details
Code Composer Studio
Docking station features
Access to controlCARD signals
Breadboard areas
Onboard USB JTAG Emulation
JTAG emulator not required
Available through TI authorized
distributors and the TI eStore
Perpheral Explorer Kit
F28335 Peripheral Explorer Kit
Experimenter Kit includes
Peripheral Explorer features
114
ADC input variable resistors
GPIO hex encoder & push buttons
eCAP infrared sensor
GPIO LEDs, I2C & CAN connection
Analog I/O (AIC+McBSP)
Onboard USB JTAG Emulation
Available through TI authorized
distributors and the TI eStore
TMDSPREX28335
F28335 controlCARD
Peripheral Explorer baseboard
C2000 Applications Software CD with
example code and full hardware details
Code Composer Studio
JTAG emulator not required
F28M35x Workshop
Other Resources – The Next Step…
controlSTICK Evaluation Tool
C2000 controlSTICK Evaluation Tool
F28069, F28027
Low-cost USB evaluation tool
Onboard JTAG Emulation
Access to controlSTICK signals
C2000 Applications Software
CD with example code and full
hardware details
Code Composer Studio
Available through TI authorized
distributors and the TI eStore
Part Number:
TMDX28069USB
TMDS28027USB
JTAG emulator not required
LaunchPad Evaluation Kit
C2000 LaunchPad Evaluation Kit
F28027, F28027F
Low-cost evaluation kit
F28027 standard version
F26027F version with InstaSPIN-FOC
Various BoosterPacks available
Onboard JTAG Emulation
Part Number:
LAUNCHXL-F28027
LAUNCHXL-F28027F
F28M35x Workshop
JTAG emulator not required
Access to LaunchPad signals
C2000 Applications Software
with example code and full
hardware details in available in
ControlSUITE
Code Composer Studio
Available through TI authorized
distributors and the TI eStore
115
Other Resources – The Next Step…
Application Kits
C2000 controlCARD Application Kits
Developer’s Kit for – Motor Control,
PFC, High Voltage, Digital Power,
Renewable Energy, LED Lighting, etc.
Kits includes
Software download includes
controlCARD and application specific
baseboard
Code Composer Studio
Complete schematics, BOM, gerber
files, and source code for board and
all software
Quick-start demonstration GUI for
quick and easy access to all board
features
Fully documented software specific to
each kit and application
See www.ti.com/c2000 for other kits
and more details
Available through TI authorized
distributors and the TI eStore
C2000 Workshop Download Wiki
C2000 Workshop Download Wiki
http://www.ti.com/hands-on-training
116
F28M35x Workshop
Other Resources – The Next Step…
For More Information…
For More Information . . .
USA – Product Information Center (PIC)
Phone: 800-477-8924 or 512-434-1560
E-mail: [email protected]
TI E2E Community (videos, forums, blogs)
Embedded Processor Wiki
http://estore.ti.com
TI website
F28M35x Workshop
http://www.ti.com/training
TI eStore
http://processors.wiki.ti.com
TI Training
http://e2e.ti.com
http://www.ti.com
117
Appendix – F28M35xx Experimenter’s Kit
Appendix – F28M35xx Experimenter’s Kit
F28M35xx controlCARD
•
•
•
•
•
•
•
•
•
Isolated JTAG – ISO JTAG
Connectivity Ports/Jumpers
LEDs
SW1
SW2
SW3
Connectivity Mux Connector (ABC)
MAC Address
Connectivity Mux Control/Connectivity Signal Mapping
Docking Station
•
•
•
•
•
•
118
SW1 / LD1
JP1 / JP2
J1 / J2 /J3 / J8 / J9
F2833x Boot Mode Selection
F280xx Boot Mode Selection
J3 – DB-9 to 4-Pin Header Cable
F28M35x Workshop
Appendix – F28M35xx Experimenter’s Kit
F28M35xx controlCARD
J5
J4
J2
LD1
LD3
LD2
MUX
(ABC)
J21
J20
SW1
LD4
LD6
LD5
SW3 SW2 J6
Isolated JTAG – ISO JTAG
J20 – USB_A connector is intended for XDS100V2 JTAG emulation and SCI communication
through dedicated FTDI logic
Connectivity Ports/Jumpers
J2 – USB micro AB connector supports USB 2.0 host/device
J4 – SD Micro card adaptor through SPI port
J5 – Ethernet port
J6 – EEPROM write protect
Jumpers on pins 1-2 connects WP pin to 3.3V (protected)
Jumpers on pins 2-3 connects WP pin to GND (not protected)
J21 – Default unconnected
Connected if isolated EMU0 signal is needed for JTAG
LEDs
LD1 – Turns on when controlCARD is powered on (Green)
LD2 – Controlled by PC6_GPIO71 (Red)
LD3 – Controlled by PC7_GPIO70 (Red)
LD4 – Power for ISO JTAG logic (Green)
LD5 – UART/SCI Rx activity indicator
LD6 – UART/SCI Tx activity indicator
F28M35x Workshop
119
Appendix – F28M35xx Experimenter’s Kit
SW1 – Controls the Boot Mode Options of the F28M35xx Device
SW2 – ADC VREF Control
The ADC reference will range from 0 to 3.3V by default. However, if the ADC in the ADC
registers is configured to use external limits, the ADC will convert its full range of resolution from
VREF-LO to VREF-HI.
Position1 – Controls VREF-HI, the value that the ratio-metric ADC will convert as the maximum
12-bit value, which is 0x0FFF. In the downward position, VREF-HI will be connected to 3.3V. In
the upward position, VREF-HI will be connected to pin 66 of the DIMM100-socket. This would
allow a connecting board to control the ADC VREF-HI value. This extends VREF-HI connections
to both the ADCs on the F28M35xx device.
Position 2 – Controls VREF-LO, the value that the ratio-metric ADC will convert as the minimum
12-bit value, which is 0x0000. In the downward position, VREF-LO will be connected to 0V. In
the upward position, VREF-LO will be connected to pin 16 of the DIMM100-socket. This would
allow a connecting board to control the ADC-VREFLO value. This extends VREF-LO
connections to both the ADCs on the F28M35xx device.
SW3 – TRST/ ISO SCI Communication Signal Enables
Position 1:
ON - TRST signal from ISO JTAG circuit will be connected to F28M35xx. Needed during
JTAG debug using ISO JTAG.
OFF - TRST signal from ISO JTAG circuit will NOT be connected to F28M35xx. Needed
when the application is running from flash at power up without the JTAG connections.
Position 2:
ON - RS-232 transceiver will be enabled and allow communication through a serial cable
via pins 2 and 42 of the DIMM-100 socket. Putting SW3 in the “ON” position will allow
the F28M35xx controlCARD to be DIMM signal compatible with the F2808, F28044,
F28335, F28035 and F28027 controlCARDs. GPIO-28 will be stuck as logic high in this
position.
OFF - The default option. SW5 in the “OFF” position allows GPIO-28 to be used as a
GPIO. Serial communication is still possible, through the FTDI – FT2232 chip.
120
F28M35x Workshop
Appendix – F28M35xx Experimenter’s Kit
Connectivity Mux Connector (ABC)
F28M35xx MCU GPIO functions have been partitioned as “connectivity ports” and “control ports”.
DIMM 100 connector supports all the control signals/standard communication functions and
maintains compatibility across all C2000 28x device families.
Connectivity mux – The mux uses physical jumpers to allow easy access to the connectivity ports
on the top edge of the card (i.e. USB, Ethernet, uSDCARD) or redirects the GPIOs to the
DIMM100 connector to maintain signal compatibility with the C2000 legacy applications and
devices.
Unmuxed signals (pins 32 -36) should not be populated with jumpers. These are signals are
intended to be used with boards that can be connected to Connectivity Mux.
MAC Address
F28M35xx device Ethernet examples use a fixed TI’s MAC address: A8-63-F2-00-00-80. Refer
to the board label for a unique TI’s MAC ID assigned for each F28M35xx controlCARD. User
applications can program a fixed MAC address in the non-volatile memory reserved for MAC
address. Refer to device documentation for details.
F28M35x Workshop
121
Appendix – F28M35xx Experimenter’s Kit
Connectivity Mux Control/Connectivity Signal Mapping
122
F28M35x Workshop
Appendix – F28M35xx Experimenter’s Kit
Docking Station
2833x
Boot*
J9
J2
J8
JP2
J3
SW1
JP1
280xx
Boot*
J1
LD1
*Note: Jumper Left = 1; Jumper Right = 0
SW1 / LD1
SW1 – USB: Power from USB; ON – Power from JP1
LD1 – Power-On indicator
JP1 / JP2
JP1 – 5.0 V power supply input
JP2 – USB JTAG emulation port
J1 / J2 /J3 / J8 / J9
J1 – ControlCARD 100-pin DIMM socket
J2 – JTAG header connector
J3 – UART communications header connector
J8 – Internal emulation enable/disable jumper (NO jumper for internal emulation)
J9 – User virtual COM port to C2000 device (Note: ControlCARD would need to be modified to
disconnect the C2000 UART connection from header J3)
Note:
The internal emulation logic on the Docking Station routes through the FT2232 USB
device. By default this device enables the USB connection to perform JTAG
communication and in parallel create a virtual serial port (SCI/UART). As shipped, the
C2000 device is not connected to the virtual COM port and is instead connected to J3.
F28M35x Workshop
123
Appendix – F28M35xx Experimenter’s Kit
F2833x Boot Mode Selection
F280xx Boot Mode Selection
124
F28M35x Workshop
Appendix – F28M35xx Experimenter’s Kit
J3 – DB-9 to 4-Pin Header Cable
Note:
This cable is NOT included with the Experimenter’s Kit and is only shown for reference.
DB-9 Male
Pin-Out Table for Both Ends of the Cable:
DB-9 female
SIL 0.1" female
Pin#
Pin#
-------------------------------------------------------------2 (black)
1 (TX)
3 (red)
4 (RX)
5 (bare wire)
3 (GND)
Note: pin 2 on SIL is a no-connect
F28M35x Workshop
125
Notes:
Notes:
126
F28M35x Workshop