Texas Instruments TMS320C6000 DSP User manual

TMS320C6000
Network Developer’s Kit (NDK) SupportPackage for EVMDM642
User's Guide
Literature Number: SPRUES5AJanuary 2007 – Revised June 2008

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Contents
Preface ........................................................................................................................................ 51 Getting Started .................................................................................................................... 71.1 Introduction ................................................................................................................ 71.2 Installing the Support Package .......................................................................................... 71.3 Rebuilding HAL Libraries ............................................................................................... 171.4 Required Terms and Concepts ........................................................................................ 192 User LED Driver ................................................................................................................. 193 Timer Driver ....................................................................................................................... 194 Serial Driver ....................................................................................................................... 204.1 Introduction ............................................................................................................... 204.2 Serial Port Driver ........................................................................................................ 214.3 Serial Port Mini-Driver ................................................................................................... 215 Ethernet Driver ................................................................................................................... 275.1 Introduction ............................................................................................................... 275.2 Ethernet Driver ........................................................................................................... 285.3 Ethernet Packet Mini-Driver ............................................................................................ 29Appendix A Revision History ...................................................................................................... 34
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List of Figures
1 BlackHawk560M Configuration to Connect to DM642 .................................................................. 92 DM642 Gel Load ........................................................................................................... 103 HelloWorld Project Open in Code Composer Studio Window ........................................................ 114 Configuring Build Options Through Code Composer Studio ......................................................... 125 Enabling NIMU for Build Through Code Composer Studio ........................................................... 136 DM642 Connect Procedure ............................................................................................... 147 DM642 Connect ............................................................................................................ 158 helloWorld Project Running Successfully on DM642 .................................................................. 169 Source File Addition to Existing Project ................................................................................. 1710 Ethernet HAL Build From Sources ....................................................................................... 18
List of Tables
1 Serial Module Device Driver Source Files .............................................................................. 202 Structure Entries ............................................................................................................ 223 Ethernet Packet Driver Source Files ..................................................................................... 284 Structure Entries ............................................................................................................ 30A-1 Document Revision History ............................................................................................... 34
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PrefaceSPRUES5A – January 2007 – Revised June 2008
Read This First
About This Manual
This document contains information about the Network Developer’s Kit (NDK) Support Package forEVMDM642. The package includes source code for HAL drivers, and examples to reuse or modify themfor customer designed platforms. Pre-built HAL libraries are also delivered with the package.
How to Use This ManualThis document is divided into the following sections:•Section 1 – Getting Started: Introduces the NDK Support Package, which is designed to run the NDKon EVMDM642 platform.•Section 2 – User LED Driver: Describes the user LED driver for EVMDM642.•Section 3 – Timer Driver: Describes the timer driver for EVMDM642.•Section 4 – Serial Driver: Describes the serial driver for TL 16C752.•Section 5 – Ethernet Driver: Describes the EMAC driver for DM642.
Notational Conventions
This document uses the following conventions:•Program listings, program examples, and interactive displays are shown in a special typeface.•In syntax descriptions, the function or macro appears in a bold typeface and the parameters appear inplainface within parentheses. Portions of a syntax that are in bold should be entered as shown;portions of syntax that are within parentheses describe the type of information that should be entered.•Macro names are written in uppercase text; function names are written in lowercase.
Related Documentation from Texas InstrumentsThe following books describe the TMS320C6x™ devices and related support tools. To obtain a copy ofany of these TI documents, call the Texas Instruments Literature Response Center at (800) 477–8924.When ordering, please identify the book by its title and literature number. Many of these documents canbe found on the Internet at http://www.ti.com .
SPRU189 —TMS320C6000 DSP CPU and Instruction Set Reference Guide. Describes the CPUarchitecture, pipeline, instruction set, and interrupts for the TMS320C6000™ digital signalprocessors (DSPs).
SPRU190 —TMS320C6000DSP Peripherals Overview Reference Guide. Provides an overview andbriefly describes the peripherals available on the TMS320C6000™ family of digital signalprocessors (DSPs).
SPRU197 —TMS320C6000 Technical Brief. Provides an introduction to the TMS320C62x™ andTMS320C67x™ digital signal processors (DSPs) of the TMS320C6000™ DSP family. Describesthe CPU architecture, peripherals, development tools and third-party support for the C62x™ andC67x™ DSPs.
SPRU198 —TMS320C6000 Programmer's Guide. Reference for programming the TMS320C6000™digital signal processors (DSPs). Before you use this manual, you should install your codegeneration and debugging tools. Includes a brief description of the C6000 DSP architecture andcode development flow, includes C code examples and discusses optimization methods for the Ccode, describes the structure of assembly code and includes examples and discusses optimizationsfor the assembly code, and describes programming considerations for the C64x™ DSP.
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SPRU509 —TMS320C6000 Code Composer Studio Development Tools v3.3 Getting Started Guideintroduces some of the basic features and functionalities in Code Composer Studio™ to enable youto create and build simple projects.
SPRU523 —TMS320C6000 Network Developer’s Kit (NDK) Software User’s Guide. Describes how touse the NDK libraries, how to develop networking applications on TMS320C6000™ platforms, andways to tune the NDK to fit a particular software environment.
SPRU524 —TMS320C6000 Network Developer’s Kit (NDK) Software Programmer’s ReferenceGuide. Describes the various API functions provided by the stack libraries, including the low levelhardware APIs.Trademarks
TMS320C6x, TMS320C6000, TMS320C62x, TMS320C67x, C62x, C67x, C64x, Code Composer Studio,DSP/BIOS are trademarks of Texas Instruments.
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1 Getting Started
1.1 Introduction
1.2 Installing the Support Package
User's GuideSPRUES5A – January 2007 – Revised June 2008
TMS320C6000 Network Developer’s Kit (NDK) SupportPackage for EVMDM642
This section introduces the NDK Support Package for EVMDM642.
The TMS320C6000 NDK Support Package for EVMDM642 includes:•Source codes and pre-built libraries for the NDK Hardware Adaptation Layer (HAL) drivers•NDK examples
There are four basic HAL drivers required to operate the NDK: timer, user LED, serial port, and Ethernet.The Support Package provides Ethernet, serial, and user LED drivers specific to EVMDM642 platform.The timer driver is implemented by using DSP/BIOS™ PRD module from the NDK.
1. Install the Code Composer Studio using the Code Composer Studio CD, if not installed yet. It must beinstalled before the NDK Support Package software. Be sure that you install a version of CodeComposer Studio 3.3 or higher.2. Install the NDK software, if not installed yet.3. Copy the ti.ndk.platforms.evmdm642.tar under < NDK_INSTALL_DIR>\packages directory, and untar it.The support package installs over the NDK installation. Once installed, the following directories arecreated under the < NDK_INSTALL_DIR>/packages/ti/ndk directory:•< docs/evmdm642> Documentation files for Support Package•< example/network/cfgdemo/evmdm642> Code Composer Studio project files for cfgdemo example•< example/network/client/evmdm642> Code Composer Studio project files for client example•< example/network/helloWorld/evmdm642> Code Composer Studio project files for helloWorldexample
•< example/serial/client/evmdm642> Code Composer Studio project files for serial client example•< example/serial/router/evmdm642> Code Composer Studio project files for serial router example•< example/tools/evmdm642> Common tools used by Support Package•< lib/hal/evmdm642> Pre-built HAL libraries for EVMDM642•< src/hal/evmdm642/eth_dm642> Source code for DM642 EMAC driver•< src/hal/evmdm642/ser_ti752> Source code of TI 16C752 Dual serial universal asynchronousreceiver/transmitter (UART) driver•< src/hal/evmdm642/userled_dm642> Source code for EVMDM642 LED driver4. The network management interface unit (NIMU) is introduced in NDK 1.94.00.001 as an alternative toLL packet architecture to add support for multiple instances of drivers. Several builds of the Ethernetdriver libraries are provided with NIMU and LL architectures for Big and Little Endian architecturesunder < lib/hal/evmdm642>. The libraries are named as < lib_name>.lib for little endian and< lib_name>e.lib for big endian. The libraries built using NIMU are named as < lib_name>_nimu.lib andthe ones built using LL architecture are named as < lib_name>_ll.lib.Please choose the most appropriate version of the library based on the endianness and whetherNIMU/LL is required and rename the library to just < lib_name>.lib for using it with any exampleprojects.
For example, If an application requires NIMU little endian HAL ethernet driver, rename< lib/hal/evmdm642/hal_eth_dm642_nimu.lib> to < lib/hal/evmdm642/hal_eth_dm642.lib>.
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5. Also, choose the appropriate version of the user LED and serial drivers (if required) and rename it,based on endianness. The little endian version of the library is named as < lib_name>.lib and the bigendian counterpart is named as < lib_name>e.lib.For example, if the target board is big-endian platform then:copy < lib/hal/evmdm642/hal_userled_dm642e.lib> to< lib/hal/evmdm642/hal_userled_dm642.lib>
And if a serial port is required: copy < lib/hal/evmdm642/hal_ser_ti752e.lib> to< lib/hal/evmdm642/hal_ser_ti752.lib>.
6. Copy the correct NDK libraries for testing based on endianness and NIMU/LL architectures.For example, to compile your application with NIMU for a little endian target, change directory to< NDK_INSTALL_DIR>/packages/ti/ndk/lib/C64plus> and execute the following commands at thecommand prompt:copy netctrl_nimu.lib netctrl.libcopy nettool_nimu.lib nettool.libcopy all_stk\stk_nimu.lib stack.libFor more details on choosing and building in appropriate NDK libraries, see the NDK Libraries andBuilding in NIMU sections in TMS320C6000 Network Developer's Kit (NDK) User's Reference Guide(SPRU523 ).7. Configure the environment variables; for DM642, the following variables should be configured:NDK_INSTALL_DIR = < ndk_1_94 installation directory>8. Make sure the PC is connected through USB/JTAG to the DM642 correctly; in Figure 1 , the BlackHawkUSB560M debugger is used. Install any JTAG drivers required and be sure that PIN1 of the JTAG onDM642 board matches PIN1 of the JTAG connector. Click on the Code Composer Studio Icon,typically placed on the Desktop of the PC, to open Code Composer Studio as shown below.
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9. The following screen pops up.
Figure 1. BlackHawk560M Configuration to Connect to DM642
10. Make sure that the Blackhawk USB560M – DM640,1,2,3 emulator is selected. Remove any otherexisting platforms, if any, already configured. Click on Save & Quit to start Code Composer Studio.
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11. Ensure the DM642 GEL file is loaded, once in Code Composer Studio. Click on File →Load Gel.Select the GEL file from the location where the DM642 BSL package was installed (see Figure 2 ).(This step is done while installing the DM642 support; there is typically a CD provided along with eachplatform).
Figure 2. DM642 Gel Load
12. Select the EVMDM642.gel and click Open. The GEL file is downloaded and the board is ready to use.Steps 11 and 12 need to be done every time the DM642 board is powered off and turned back on.
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13. Click on Project →Open, once Code Composer Studio is open and ready to use. Browse to< NDK_INSTALL_DIR>/packages/ti/ndk/example/network/helloWorld/evmdm642>
and choose the helloWorld.pjt. It should open up the project as shown in Figure 3 :
Figure 3. HelloWorld Project Open in Code Composer Studio Window
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14. Follow these steps to build the example project with NIMU enabled using Code Composer Studio IDE :a. Open the application project in Code Composer Studio IDE. Go to Project →Build Options andclick on it as shown in Figure 4 :
Figure 4. Configuring Build Options Through Code Composer Studio
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2. Click on Preprocessor in the Category box of the Compiler tab on the Build Options dialog box thatappears as shown in Figure 5 :
Figure 5. Enabling NIMU for Build Through Code Composer Studio
c. Add the following constant at the end and click on OK button to apply the settings in Pre-DefineSymbol (-d) box as shown in Figure 5 ._INCLUDE_NIMU_CODE;
d. Build the application project according to the following the steps to make sure the NIMU is built intothe final executable.
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15. Connect to DM642 by entering Alt + C or by clicking on Debug →Connect if not already connected tothe debugger on the DM642, as shown in Figure 6 .
Figure 6. DM642 Connect Procedure
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16. Once connected, Figure 7 shows up displaying that the Code Composer Studio debugger is nowconnected to the target.
Figure 7. DM642 Connect
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17. Build the project by selecting F7 or go to Project →Build and click on it. Once the project is builtwithout any errors, load the project onto the DM642 platform by clicking on File →Load Program andbrowse to the bin folder of the helloWorld project; select helloWorld.out. Enter F5 or click on Debug →Run to start the helloWorld application on the target as shown in Figure 8
Figure 8. helloWorld Project Running Successfully on DM642
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1.3 Rebuilding HAL Libraries
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Code Composer Studio is the recommended tool to rebuild the HAL libraries, if needed. To build anyspecific HAL library from Code Composer Studio, add the relevant HAL library sources to the CodeComposer Studio application project and recompile as illustrated in the steps below:1. Right click on the project file in the Project window, as shown in Figure 9 , and select Add Files toProject to add any HAL library sources to Code Composer Studio project. This opens up a browsewindow; you can browse to the required HAL sources directory and select the appropriate source codefiles to add them.
Figure 9. Source File Addition to Existing Project
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For example, to add the Ethernet driver source files, browse to< NDK_INSTALL_DIR>/packages/ti/ndk/src/hal/evmdm642/eth_dm642>
and select the required .c files as shown in Figure 10 .
Figure 10. Ethernet HAL Build From SourcesTo rebuild the DM642 Ethernet driver from sources ensure the following files are added to project:With NIMU add:< NDK_INSTALL_DIR>/packages/ti/ndk/src/hal/evmdm642/eth_dm642/dm642.c>
< NDK_INSTALL_DIR>/packages/ti/ndk/src/hal/evmdm642/eth_dm642/nimu_dm642.c>
With LL add:< NDK_INSTALL_DIR>/packages/ti/ndk/src/hal/evmdm642/eth_dm642/dm642.c>
< NDK_INSTALL_DIR>/packages/ti/ndk/src/hal/evmdm642/eth_dm642/llpacket.c>
To rebuild the DM642 user LED driver from sources ensure the following file is added to project:< NDK_INSTALL_DIR>/packages/ti/ndk/src/hal/evmdm642/userled_dm642/llled.c>
To rebuild DM642 serial URT driver from sources ensure the following files are added to project:< NDK_INSTALL_DIR>/packages/ti/ndk/src/hal/evmdm642/ser_ti752/ti752.c>
< NDK_INSTALL_DIR>/packages/ti/ndk/src/hal/evmdm642/ser_ti752/lllserial.c>
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1.4 Required Terms and Concepts
1.4.1 HAL Driver Source Files
1.4.2 Network Control Module (NETCTRL)
1.4.3 Stack Event (STKEVENT) Object
1.4.4 Packet Buffer (PBM) Object
2 User LED Driver
3 Timer Driver
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For further explanation on the user LED, serial, and Ethernet driver files and their contents, pleaserefer to Section 2 ,Section 4 and Section 5 of this document, respectively.
2. Rebuild the project once the necessary HAL library source files have been added to the project.
To port the NDK Support Package device drivers, you should be familiar with the following concepts.
Section 1.3 described how to build different HAL drivers for EVMDM642.
The network control module (NETCTRL) is at the center of the NDK and controls the interface of the HALdevice drivers to the internal stack functions.
The NETCTRL module and its related APIs are described in both the TMS320C6000 Network Developer'sKit (NDK) Software Programmer's Reference Guide (SPRU524 ) and the TMS320C6000 NetworkDeveloper's Kit (NDK) Software User's Guide (SPRU523 ). To write device drivers, you must be familiarwith NETCTRL. The description given in the TMS320C6000 Network Developer's Kit (NDK) SoftwareUser's Guide (SPRU523 ) is more appropriate for device driver work.
The STKEVENT event object is a central component to the low-level architecture. It ties the HAL layer tothe scheduler thread in the network control module (NETCTRL). The network scheduler thread waits onevents from various device drivers in the system, including the Ethernet, serial, and timer drivers.
The STKEVENT object is used by the device drivers to inform the scheduler that an event has occurred.The STKEVENT object and its related API are described in the TMS320C6000 Network Developer's Kit(NDK) Software Programmer's Reference Guide (SPRU524 ). To write device drivers, you must be familiarwith STKEVENT.
The PBM object is a packet buffer that is sourced and managed by the Packet Buffer Manager (PBM).The PBM is part of the OS adaptation layer. It provides packet buffers for all packet based devices in thesystem. Therefore, the serial port and Ethernet drivers both make use of this module.
The PBM object and its related API are described in the TMS320C6000 Network Developer's Kit (NDK)Software Programmer's Reference Guide (SPRU524 ). The TMS320C6000 Network Developer's Kit (NDK)Software User's Guide (SPRU523 ) also includes a section on adapting the PBM to a particular includedsoftware.
This section describes the user LED software. The user LED driver is a collection of functions that turn onand off LED lights on the EVMDM642 platform. There is only one C file for the user LED: LLLED.C LEDdriver, located in the subdirectory SRC\HAL\EVMDM642\USERLED_DM642.
This section discusses the software that drives event timing. The timer driver determines the timing for alltime driven events in the NDK. The EVMDM642 platform uses the NDK provided timer_bios driver, whichis implemented using a DSP/BIOS PRD object.
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4 Serial Driver
4.1 Introduction
4.1.1 Source Code
4.1.2 Theory of Operation
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This section describes the operational theory of the HDLC framing layer and low-level serial driver,including instructions on the use and porting of the device driver source code.
The serial driver can be used in one of two ways in the NDK. First, by connecting the serial port to a pipe,the serial interface can drive a TTY command line tool for device configuration purposes. The TTYinterface can look like any other socket to a socket based console program. Thus, the same consoleprogram can support both Telnet and direct serial link. More commonly, the serial driver implements aPPP device interface to a modem or a peer on the other side of the serial link.
The serial driver provided in the NDK is broken down into two parts: a device independent upper layer,and a device dependent layer. The device dependent layer is called a mini-driver because it onlyimplements a subset of the full driver functions. The mini-driver API is documented in Section 4.3.4 . Thefull NDK serial port driver API is documented in the Hardware Adaptation Layer (HAL) section of theTMS320C6000 Network Developer's Kit (NDK) Software Programmer's Reference Guide (SPRU524 ), andthe interface to the HDLC framer is documented in the Point-to-Point Protocol. The example applicationsprovide the source code to the HDLC framer interface.
The EXAMPLE\SERIAL directory includes example applications using the serial device.
There are two types of serial modules included in the NDK: a stub driver used in a system where a serialport is not required, and a driver for the Texas Instruments TL16C750 and TL16C752 UART. Thedirectories for the two types of device drivers are as follows:
Table 1. Serial Module Device Driver Source Files
Directory File Description
< SRC\HAL\EVMDM642\SER_TI752> Source code for the Texas Instruments TL16C752dual serial UART driverLLSERIAL.C Hardware independent portion of the low-levelserial port driverLLSERIAL.H Private include file for the LLSERIAL driversTI752.C Serial mini-driver for TL16C752TI752.H Private include file for the serial mini-driver
The serial port driver was designed to operate both an AT command set modem (or any serial TTY typeapplication), and also support PPP HDLC-like framing, without the intervention of the TTY (or charactermode) code. The driver accomplishes this dual role through the ability to open in two different modes.
On initialization, the serial driver is first opened in character mode using the llSerialOpen() function. Thisprovides a channel for receiving normal TTY data. With a modem, this channel sends AT commands andgets replies.
When the modem has connected, or the TTY state machine provided by the programmer has detected thepresence of HDLC, the HDLC-like framing module is opened using the llSerialOpenHDLC() call on theserial port.
Once open in HDLC mode, the hardware specific portion of the low-level serial driver tracks the HDLCframe delimiters and receives HDLC frames, including converted escape sequences, and validating theHDLC checksum. When data is sent in HDLC mode, the low-level serial driver must add the HDLC framedelimiter characters, use escape sequences when necessary, and calculate the outgoing HDLCchecksum. While in HDLC mode, the serial device can still indicate character mode data if it is possible todetect the difference, but due to the relaxed standard in HDLC frame delimiting, this may not be practical.
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