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authorPavel Pisa <pisa@cmp.felk.cvut.cz>2016-09-22 09:50:59 +0200
committerPavel Pisa <pisa@cmp.felk.cvut.cz>2016-10-02 11:31:19 +0200
commit8671786934eab0d2894809014f99c005f2c8d22a (patch)
tree1f039a873ba5f1f05e7e9553a4d4d574e81ad7ac
parent22ab88c4865d815c0639a83d31e8c3ce17a47111 (diff)
downloadrtems-8671786934eab0d2894809014f99c005f2c8d22a.tar.bz2
arm/tms570: include hardware initialization and selftest based on Ti HalCoGen generated files.
The configuration is specific for TMS570LS3137 based HDK. Pins configuration can be easily changed in rtems/c/src/lib/libbsp/arm/tms570/hwinit/init_pinmux.c file. The list tms570_selftest_par_list in the file rtems/c/src/lib/libbsp/arm/tms570/hwinit/bspstarthooks-hwinit.c specifies peripherals which health status is examined by parity self-test at BSP start-up. It can be easily modified for other TMS570 family members variants same as the selection of other tests in bspstarthooks-hwinit.c.
-rw-r--r--c/src/lib/libbsp/arm/tms570/hwinit/bspstarthooks-hwinit.c422
-rw-r--r--c/src/lib/libbsp/arm/tms570/hwinit/fail_notification.c17
-rw-r--r--c/src/lib/libbsp/arm/tms570/hwinit/init_emif_sdram.c64
-rw-r--r--c/src/lib/libbsp/arm/tms570/hwinit/init_esm.c62
-rw-r--r--c/src/lib/libbsp/arm/tms570/hwinit/init_pinmux.c259
-rw-r--r--c/src/lib/libbsp/arm/tms570/hwinit/init_system.c378
-rw-r--r--c/src/lib/libbsp/arm/tms570/hwinit/tms570_hwinit.h31
-rw-r--r--c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest.c598
-rw-r--r--c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest.h214
-rw-r--r--c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest_par_can.c93
-rw-r--r--c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest_par_mibspi.c105
-rw-r--r--c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest_par_std.c90
-rw-r--r--c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest_parity.c316
-rw-r--r--c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest_parity.h110
-rw-r--r--c/src/lib/libbsp/arm/tms570/hwinit/tms570_sys_core.S575
-rw-r--r--c/src/lib/libbsp/arm/tms570/hwinit/tms570_tcram_tests.c185
16 files changed, 3519 insertions, 0 deletions
diff --git a/c/src/lib/libbsp/arm/tms570/hwinit/bspstarthooks-hwinit.c b/c/src/lib/libbsp/arm/tms570/hwinit/bspstarthooks-hwinit.c
new file mode 100644
index 0000000000..21f4c7d43d
--- /dev/null
+++ b/c/src/lib/libbsp/arm/tms570/hwinit/bspstarthooks-hwinit.c
@@ -0,0 +1,422 @@
+#include <stdint.h>
+#include <bsp.h>
+#include <bsp/start.h>
+#include <bsp/tms570.h>
+
+#include "tms570_selftest.h"
+#include "tms570_selftest_parity.h"
+#include "tms570_hwinit.h"
+
+void bsp_start_hook_0_done( void );
+
+static inline
+int tms570_running_from_tcram( void )
+{
+ void *fncptr = (void*)bsp_start_hook_0;
+ return ( fncptr >= (void*)TMS570_TCRAM_START_PTR ) &&
+ ( fncptr < (void*)TMS570_TCRAM_WINDOW_END_PTR );
+}
+
+static inline
+int tms570_running_from_sdram( void )
+{
+ void *fncptr = (void*)bsp_start_hook_0;
+ return ( ( (void*)fncptr >= (void*)TMS570_SDRAM_START_PTR ) &&
+ ( (void*)fncptr < (void*)TMS570_SDRAM_WINDOW_END_PTR ) );
+}
+
+#define PBIST_March13N_SP 0x00000008U /**< March13 N Algo for 1 Port mem */
+
+BSP_START_TEXT_SECTION void bsp_start_hook_0( void )
+{
+ /*
+ * Work Around for Errata DEVICE#140: ( Only on Rev A silicon)
+ *
+ * Errata Description:
+ * The Core Compare Module(CCM-R4) may cause nERROR to be asserted after a cold power-on
+ * Workaround:
+ * Clear ESM Group2 Channel 2 error in ESMSR2 and Compare error in CCMSR register
+ */
+ if ( TMS570_SYS1.DEVID == 0x802AAD05U ) {
+ _esmCcmErrorsClear_();
+ }
+
+ /* Enable CPU Event Export */
+ /* This allows the CPU to signal any single-bit or double-bit errors detected
+ * by its ECC logic for accesses to program flash or data RAM.
+ */
+ _coreEnableEventBusExport_();
+
+ /* Workaround for Errata CORTEXR4 66 */
+ _errata_CORTEXR4_66_();
+
+ /* Workaround for Errata CORTEXR4 57 */
+ _errata_CORTEXR4_57_();
+
+ /* check for power-on reset condition */
+ /*SAFETYMCUSW 139 S MR:13.7 <APPROVED> "Hardware status bit read check" */
+ if ( ( TMS570_SYS1.SYSESR & TMS570_SYS1_SYSESR_PORST ) != 0U ) {
+ /* clear all reset status flags */
+ TMS570_SYS1.SYSESR = 0xFFFFU;
+
+ /* continue with normal start-up sequence */
+ }
+ /*SAFETYMCUSW 139 S MR:13.7 <APPROVED> "Hardware status bit read check" */
+ else if ( ( TMS570_SYS1.SYSESR & TMS570_SYS1_SYSESR_OSCRST ) != 0U ) {
+ /* Reset caused due to oscillator failure.
+ Add user code here to handle oscillator failure */
+ }
+ /*SAFETYMCUSW 139 S MR:13.7 <APPROVED> "Hardware status bit read check" */
+ else if ( ( TMS570_SYS1.SYSESR & TMS570_SYS1_SYSESR_WDRST ) != 0U ) {
+ /* Reset caused due
+ * 1) windowed watchdog violation - Add user code here to handle watchdog violation.
+ * 2) ICEPICK Reset - After loading code via CCS / System Reset through CCS
+ */
+ /* Check the WatchDog Status register */
+ if ( TMS570_RTI.WDSTATUS != 0U ) {
+ /* Add user code here to handle watchdog violation. */
+ /* Clear the Watchdog reset flag in Exception Status register */
+ TMS570_SYS1.SYSESR = TMS570_SYS1_SYSESR_WDRST;
+ } else {
+ /* Clear the ICEPICK reset flag in Exception Status register */
+ TMS570_SYS1.SYSESR = TMS570_SYS1_SYSESR_WDRST;
+ }
+ }
+ /*SAFETYMCUSW 139 S MR:13.7 <APPROVED> "Hardware status bit read check" */
+ else if ( ( TMS570_SYS1.SYSESR & TMS570_SYS1_SYSESR_CPURST ) != 0U ) {
+ /* Reset caused due to CPU reset.
+ CPU reset can be caused by CPU self-test completion, or
+ by toggling the "CPU RESET" bit of the CPU Reset Control Register. */
+
+ /* clear all reset status flags */
+ TMS570_SYS1.SYSESR = TMS570_SYS1_SYSESR_CPURST;
+ }
+ /*SAFETYMCUSW 139 S MR:13.7 <APPROVED> "Hardware status bit read check" */
+ else if ( ( TMS570_SYS1.SYSESR & TMS570_SYS1_SYSESR_SWRST ) != 0U ) {
+ /* Reset caused due to software reset.
+ Add user code to handle software reset. */
+ } else {
+ /* Reset caused by nRST being driven low externally.
+ Add user code to handle external reset. */
+ }
+
+ /*
+ * Check if there were ESM group3 errors during power-up.
+ * These could occur during eFuse auto-load or during reads from flash OTP
+ * during power-up. Device operation is not reliable and not recommended
+ * in this case.
+ * An ESM group3 error only drives the nERROR pin low. An external circuit
+ * that monitors the nERROR pin must take the appropriate action to ensure that
+ * the system is placed in a safe state, as determined by the application.
+ */
+ if ( ( TMS570_ESM.SR[ 2 ] ) != 0U ) {
+ /*SAFETYMCUSW 5 C MR:NA <APPROVED> "for(;;) can be removed by adding "# if 0" and "# endif" in the user codes above and below" */
+ /*SAFETYMCUSW 26 S MR:NA <APPROVED> "for(;;) can be removed by adding "# if 0" and "# endif" in the user codes above and below" */
+ /*SAFETYMCUSW 28 D MR:NA <APPROVED> "for(;;) can be removed by adding "# if 0" and "# endif" in the user codes above and below" */
+ for (;; ) {
+ } /* Wait */
+ }
+
+ /* Initialize System - Clock, Flash settings with Efuse self check */
+ tms570_system_hw_init();
+
+ /* Workaround for Errata PBIST#4 */
+ /* FIXME */
+ //errata_PBIST_4();
+
+ /*
+ * Run a diagnostic check on the memory self-test controller.
+ * This function chooses a RAM test algorithm and runs it on an on-chip ROM.
+ * The memory self-test is expected to fail. The function ensures that the PBIST controller
+ * is capable of detecting and indicating a memory self-test failure.
+ */
+ tms570_pbist_self_check();
+
+ /* Run PBIST on STC ROM */
+ tms570_pbist_run( (uint32_t) STC_ROM_PBIST_RAM_GROUP,
+ ( (uint32_t) PBIST_TripleReadSlow | (uint32_t) PBIST_TripleReadFast ) );
+
+ /* Wait for PBIST for STC ROM to be completed */
+ /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Hardware status bit read check" */
+ while ( tms570_pbist_is_test_completed() != TRUE ) {
+ } /* Wait */
+
+ /* Check if PBIST on STC ROM passed the self-test */
+ if ( tms570_pbist_is_test_passed() != TRUE ) {
+ /* PBIST and STC ROM failed the self-test.
+ * Need custom handler to check the memory failure
+ * and to take the appropriate next step.
+ */
+ tms570_pbist_fail();
+ }
+
+ /* Disable PBIST clocks and disable memory self-test mode */
+ tms570_pbist_stop();
+
+ /* Run PBIST on PBIST ROM */
+ tms570_pbist_run( (uint32_t) PBIST_ROM_PBIST_RAM_GROUP,
+ ( (uint32_t) PBIST_TripleReadSlow | (uint32_t) PBIST_TripleReadFast ) );
+
+ /* Wait for PBIST for PBIST ROM to be completed */
+ /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Hardware status bit read check" */
+ while ( tms570_pbist_is_test_completed() != TRUE ) {
+ } /* Wait */
+
+ /* Check if PBIST ROM passed the self-test */
+ if ( tms570_pbist_is_test_passed() != TRUE ) {
+ /* PBIST and STC ROM failed the self-test.
+ * Need custom handler to check the memory failure
+ * and to take the appropriate next step.
+ */
+ tms570_pbist_fail();
+ }
+
+ /* Disable PBIST clocks and disable memory self-test mode */
+ tms570_pbist_stop();
+
+ if ( !tms570_running_from_tcram() ) {
+ /*
+ * The next sequence tests TCRAM, main TMS570 system operation RAM area.
+ * The tests are destructive, lead the first to fill memory by 0xc5c5c5c5
+ * and then to clear it to zero. The sequence is obliviously incompatible
+ * with RTEMS image running from TCRAM area (code clears itself).
+ *
+ * But TCRAM clear leads to overwrite of stack which is used to store
+ * value of bsp_start_hook_0 call return address from link register.
+ *
+ * If the bsp_start_hook_0 by jump to bsp_start_hook_0_done
+ * then generated C code does not use any variable which
+ * is stores on stack and code works OK even that memory
+ * is cleared during bsp_start_hook_0 execution.
+ *
+ * The last assumption is a little fragile in respect to
+ * code and compiler changes.
+ */
+
+ /* Disable RAM ECC before doing PBIST for Main RAM */
+ _coreDisableRamEcc_();
+
+ /* Run PBIST on CPU RAM.
+ * The PBIST controller needs to be configured separately for single-port and dual-port SRAMs.
+ * The CPU RAM is a single-port memory. The actual "RAM Group" for all on-chip SRAMs is defined in the
+ * device datasheet.
+ */
+ tms570_pbist_run( 0x08300020U, /* ESRAM Single Port PBIST */
+ (uint32_t) PBIST_March13N_SP );
+
+ /* Wait for PBIST for CPU RAM to be completed */
+ /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Hardware status bit read check" */
+ while ( tms570_pbist_is_test_completed() != TRUE ) {
+ } /* Wait */
+
+ /* Check if CPU RAM passed the self-test */
+ if ( tms570_pbist_is_test_passed() != TRUE ) {
+ /* CPU RAM failed the self-test.
+ * Need custom handler to check the memory failure
+ * and to take the appropriate next step.
+ */
+ tms570_pbist_fail();
+ }
+
+ /* Disable PBIST clocks and disable memory self-test mode */
+ tms570_pbist_stop();
+
+ /*
+ * Initialize CPU RAM.
+ * This function uses the system module's hardware for auto-initialization of memories and their
+ * associated protection schemes. The CPU RAM is initialized by setting bit 0 of the MSIENA register.
+ * Hence the value 0x1 passed to the function.
+ * This function will initialize the entire CPU RAM and the corresponding ECC locations.
+ */
+ tms570_memory_init( 0x1U );
+
+ /*
+ * Enable ECC checking for TCRAM accesses.
+ * This function enables the CPU's ECC logic for accesses to B0TCM and B1TCM.
+ */
+ _coreEnableRamEcc_();
+ } /* end of the code skipped for tms570_running_from_tcram() */
+
+ /* Start PBIST on all dual-port memories */
+ /* NOTE : Please Refer DEVICE DATASHEET for the list of Supported Dual port Memories.
+ PBIST test performed only on the user selected memories in HALCoGen's GUI SAFETY INIT tab.
+ */
+ tms570_pbist_run( (uint32_t) 0x00000000U | /* EMAC RAM */
+ (uint32_t) 0x00000000U | /* USB RAM */
+ (uint32_t) 0x00000800U | /* DMA RAM */
+ (uint32_t) 0x00000200U | /* VIM RAM */
+ (uint32_t) 0x00000040U | /* MIBSPI1 RAM */
+ (uint32_t) 0x00000080U | /* MIBSPI3 RAM */
+ (uint32_t) 0x00000100U | /* MIBSPI5 RAM */
+ (uint32_t) 0x00000004U | /* CAN1 RAM */
+ (uint32_t) 0x00000008U | /* CAN2 RAM */
+ (uint32_t) 0x00000010U | /* CAN3 RAM */
+ (uint32_t) 0x00000400U | /* ADC1 RAM */
+ (uint32_t) 0x00020000U | /* ADC2 RAM */
+ (uint32_t) 0x00001000U | /* HET1 RAM */
+ (uint32_t) 0x00040000U | /* HET2 RAM */
+ (uint32_t) 0x00002000U | /* HTU1 RAM */
+ (uint32_t) 0x00080000U | /* HTU2 RAM */
+ (uint32_t) 0x00004000U | /* RTP RAM */
+ (uint32_t) 0x00008000U, /* FRAY RAM */
+ (uint32_t) PBIST_March13N_DP );
+
+ if ( !tms570_running_from_tcram() ) {
+
+ /* Test the CPU ECC mechanism for RAM accesses.
+ * The checkBxRAMECC functions cause deliberate single-bit and double-bit errors in TCRAM accesses
+ * by corrupting 1 or 2 bits in the ECC. Reading from the TCRAM location with a 2-bit error
+ * in the ECC causes a data abort exception. The data abort handler is written to look for
+ * deliberately caused exception and to return the code execution to the instruction
+ * following the one that caused the abort.
+ */
+ tms570_check_tcram_ecc();
+
+ /* Wait for PBIST for CPU RAM to be completed */
+ /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Hardware status bit read check" */
+ while ( tms570_pbist_is_test_completed() != TRUE ) {
+ } /* Wait */
+
+ /* Check if CPU RAM passed the self-test */
+ if ( tms570_pbist_is_test_passed() != TRUE ) {
+ /* CPU RAM failed the self-test.
+ * Need custom handler to check the memory failure
+ * and to take the appropriate next step.
+ */
+ tms570_pbist_fail();
+ }
+
+ } /* end of the code skipped for tms570_running_from_tcram() */
+
+ /* Disable PBIST clocks and disable memory self-test mode */
+ tms570_pbist_stop();
+
+ /* Release the MibSPI1 modules from local reset.
+ * This will cause the MibSPI1 RAMs to get initialized along with the parity memory.
+ */
+ TMS570_SPI1.GCR0 = TMS570_SPI_GCR0_nRESET;
+
+ /* Release the MibSPI3 modules from local reset.
+ * This will cause the MibSPI3 RAMs to get initialized along with the parity memory.
+ */
+ TMS570_SPI3.GCR0 = TMS570_SPI_GCR0_nRESET;
+
+ /* Release the MibSPI5 modules from local reset.
+ * This will cause the MibSPI5 RAMs to get initialized along with the parity memory.
+ */
+ TMS570_SPI5.GCR0 = TMS570_SPI_GCR0_nRESET;
+
+ /* Enable parity on selected RAMs */
+ tms570_enable_parity();
+
+ /* Initialize all on-chip SRAMs except for MibSPIx RAMs
+ * The MibSPIx modules have their own auto-initialization mechanism which is triggered
+ * as soon as the modules are brought out of local reset.
+ */
+ /* The system module auto-init will hang on the MibSPI RAM if the module is still in local reset.
+ */
+ /* NOTE : Please Refer DEVICE DATASHEET for the list of Supported Memories and their channel numbers.
+ Memory Initialization is perfomed only on the user selected memories in HALCoGen's GUI SAFETY INIT tab.
+ */
+ tms570_memory_init( (uint32_t) ( (uint32_t) 1U << 1U ) | /* DMA RAM */
+ (uint32_t) ( (uint32_t) 1U << 2U ) | /* VIM RAM */
+ (uint32_t) ( (uint32_t) 1U << 5U ) | /* CAN1 RAM */
+ (uint32_t) ( (uint32_t) 1U << 6U ) | /* CAN2 RAM */
+ (uint32_t) ( (uint32_t) 1U << 10U ) | /* CAN3 RAM */
+ (uint32_t) ( (uint32_t) 1U << 8U ) | /* ADC1 RAM */
+ (uint32_t) ( (uint32_t) 1U << 14U ) | /* ADC2 RAM */
+ (uint32_t) ( (uint32_t) 1U << 3U ) | /* HET1 RAM */
+ (uint32_t) ( (uint32_t) 1U << 4U ) | /* HTU1 RAM */
+ (uint32_t) ( (uint32_t) 1U << 15U ) | /* HET2 RAM */
+ (uint32_t) ( (uint32_t) 1U << 16U ) /* HTU2 RAM */
+ );
+
+ /* Disable parity */
+ tms570_disable_parity();
+
+ /*
+ * Test the parity protection mechanism for peripheral RAMs
+ * Refer DEVICE DATASHEET for the list of Supported Memories
+ * with parity.
+ */
+
+ tms570_selftest_par_run( tms570_selftest_par_list,
+ tms570_selftest_par_list_size );
+
+#if 0
+ /*
+ * RTEMS VIM initialization is implemented by the function
+ * bsp_interrupt_facility_initialize(). RTEMS does not
+ * gain performance from use of vectors targets provided
+ * directly by VIM. RTEMS require to route all interrupts
+ * through _ARMV4_Exception_interrupt handler.
+ *
+ * But actual RTEMS VIM initialization lefts some registers
+ * default values untouched. All registers values should be
+ * ensured/configured in future probably.
+ */
+
+ /* Enable IRQ offset via Vic controller */
+ _coreEnableIrqVicOffset_();
+
+ /* Initialize VIM table */
+ vimInit();
+#endif
+
+ /* Configure system response to error conditions signaled to the ESM group1 */
+ tms570_esm_init();
+
+#if 1
+ /*
+ * Do not depend on link register to be restored to
+ * correct value from stack. If TCRAM self test is enabled
+ * the all stack content is zeroed there.
+ */
+ bsp_start_hook_0_done();
+#endif
+}
+
+BSP_START_TEXT_SECTION void bsp_start_hook_1( void )
+{
+ /* At this point we can use objects outside the .start section */
+#if 0
+ /* Do not run attempt to initialize MPU when code is running from SDRAM */
+ if ( !tms570_running_from_sdram() ) {
+ /*
+ * MPU background areas setting has to be overlaid
+ * if execution of code is required from external memory/SDRAM.
+ * This region is non executable by default.
+ */
+ _mpuInit_();
+ }
+#endif
+ tms570_emif_sdram_init();
+
+ bsp_start_copy_sections();
+ bsp_start_clear_bss();
+}
+
+/*
+ * Chip specific list of peripherals which should be tested
+ * for functional RAM parity reporting
+ */
+const tms570_selftest_par_desc_t *const
+tms570_selftest_par_list[] = {
+ &tms570_selftest_par_het1_desc,
+ &tms570_selftest_par_htu1_desc,
+ &tms570_selftest_par_het2_desc,
+ &tms570_selftest_par_htu2_desc,
+ &tms570_selftest_par_adc1_desc,
+ &tms570_selftest_par_adc2_desc,
+ &tms570_selftest_par_can1_desc,
+ &tms570_selftest_par_can2_desc,
+ &tms570_selftest_par_can3_desc,
+ &tms570_selftest_par_vim_desc,
+ &tms570_selftest_par_dma_desc,
+ &tms570_selftest_par_spi1_desc,
+ &tms570_selftest_par_spi3_desc,
+ &tms570_selftest_par_spi5_desc,
+};
+
+const int tms570_selftest_par_list_size =
+ RTEMS_ARRAY_SIZE( tms570_selftest_par_list );
diff --git a/c/src/lib/libbsp/arm/tms570/hwinit/fail_notification.c b/c/src/lib/libbsp/arm/tms570/hwinit/fail_notification.c
new file mode 100644
index 0000000000..d07a6fba7f
--- /dev/null
+++ b/c/src/lib/libbsp/arm/tms570/hwinit/fail_notification.c
@@ -0,0 +1,17 @@
+#include <stdint.h>
+#include <stdbool.h>
+#include <bsp/tms570.h>
+#include "tms570_selftest.h"
+
+void bsp_selftest_fail_notification( uint32_t flag )
+{
+}
+
+void tms570_memory_port0_fail_notification(
+ uint32_t groupSelect,
+ uint32_t dataSelect,
+ uint32_t address,
+ uint32_t data
+)
+{
+}
diff --git a/c/src/lib/libbsp/arm/tms570/hwinit/init_emif_sdram.c b/c/src/lib/libbsp/arm/tms570/hwinit/init_emif_sdram.c
new file mode 100644
index 0000000000..b07498024a
--- /dev/null
+++ b/c/src/lib/libbsp/arm/tms570/hwinit/init_emif_sdram.c
@@ -0,0 +1,64 @@
+/**
+ * @file init_emif_sdram.c
+ *
+ * @ingroup tms570
+ *
+ * @brief Initialization of external memory/SDRAM interface.
+ */
+
+#include <stdint.h>
+#include <bsp/tms570.h>
+#include "tms570_hwinit.h"
+
+void tms570_emif_sdram_init( void )
+{
+ uint32_t dummy;
+ uint32_t sdtimr = 0;
+ uint32_t sdcr = 0;
+
+ /* Do not run attempt to initialize SDRAM when code is running from it */
+ if ( ( (void*)tms570_emif_sdram_init >= (void*)TMS570_SDRAM_START_PTR ) &&
+ ( (void*)tms570_emif_sdram_init <= (void*)TMS570_SDRAM_WINDOW_END_PTR ) )
+ return;
+
+ sdtimr = TMS570_EMIF_SDTIMR_T_RFC_SET( sdtimr, 6 - 1 );
+ sdtimr = TMS570_EMIF_SDTIMR_T_RP_SET( sdtimr, 2 - 1 );
+ sdtimr = TMS570_EMIF_SDTIMR_T_RCD_SET( sdtimr, 2 - 1 );
+ sdtimr = TMS570_EMIF_SDTIMR_T_WR_SET( sdtimr, 2 - 1 );
+ sdtimr = TMS570_EMIF_SDTIMR_T_RAS_SET( sdtimr, 4 - 1 );
+ sdtimr = TMS570_EMIF_SDTIMR_T_RC_SET( sdtimr, 6 - 1 );
+ sdtimr = TMS570_EMIF_SDTIMR_T_RRD_SET( sdtimr, 2 - 1 );
+
+ TMS570_EMIF.SDTIMR = sdtimr;
+
+ /* Minimum number of ECLKOUT cycles from Self-Refresh exit to any command */
+ TMS570_EMIF.SDSRETR = 5;
+ /* Define the SDRAM refresh period in terms of EMIF_CLK cycles. */
+ TMS570_EMIF.SDRCR = 2000;
+
+ /* SR - Self-Refresh mode bit. */
+ sdcr |= TMS570_EMIF_SDCR_SR * 0;
+ /* field: PD - Power Down bit controls entering and exiting of the power-down mode. */
+ sdcr |= TMS570_EMIF_SDCR_PD * 0;
+ /* PDWR - Perform refreshes during power down. */
+ sdcr |= TMS570_EMIF_SDCR_PDWR * 0;
+ /* NM - Narrow mode bit defines whether SDRAM is 16- or 32-bit-wide */
+ sdcr |= TMS570_EMIF_SDCR_NM * 1;
+ /* CL - CAS Latency. */
+ sdcr = TMS570_EMIF_SDCR_CL_SET( sdcr, 2 );
+ /* CL can only be written if BIT11_9LOCK is simultaneously written with a 1. */
+ sdcr |= TMS570_EMIF_SDCR_BIT11_9LOCK * 1;
+ /* IBANK - Internal SDRAM Bank size. */
+ sdcr = TMS570_EMIF_SDCR_IBANK_SET( sdcr, 2 ); /* 4-banks device */
+ /* Page Size. This field defines the internal page size of connected SDRAM devices. */
+ sdcr = TMS570_EMIF_SDCR_PAGESIZE_SET( sdcr, 0 ); /* elements_256 */
+
+ TMS570_EMIF.SDCR = sdcr;
+
+ dummy = *(volatile uint32_t*)TMS570_SDRAM_START_PTR;
+ (void) dummy;
+ TMS570_EMIF.SDRCR = 31;
+
+ /* Define the SDRAM refresh period in terms of EMIF_CLK cycles. */
+ TMS570_EMIF.SDRCR = 312;
+}
diff --git a/c/src/lib/libbsp/arm/tms570/hwinit/init_esm.c b/c/src/lib/libbsp/arm/tms570/hwinit/init_esm.c
new file mode 100644
index 0000000000..23989d2026
--- /dev/null
+++ b/c/src/lib/libbsp/arm/tms570/hwinit/init_esm.c
@@ -0,0 +1,62 @@
+/**
+ * @file init_esm.c
+ *
+ * @ingroup tms570
+ *
+ * @brief Error signaling module initialization
+ */
+
+#include <stdint.h>
+#include <bsp/tms570.h>
+#include "tms570_hwinit.h"
+
+/**
+ * @brief Error signaling module initialization (HCG:esmInit)
+ *
+ */
+void tms570_esm_init( void )
+{
+ /** - Disable error pin channels */
+ TMS570_ESM.DEPAPR1 = 0xFFFFFFFFU;
+ TMS570_ESM.IEPCR4 = 0xFFFFFFFFU;
+
+ /** - Disable interrupts */
+ TMS570_ESM.IECR1 = 0xFFFFFFFFU;
+ TMS570_ESM.IECR4 = 0xFFFFFFFFU;
+
+ /** - Clear error status flags */
+ TMS570_ESM.SR[0U] = 0xFFFFFFFFU;
+ TMS570_ESM.SR[1U] = 0xFFFFFFFFU;
+ TMS570_ESM.SSR2 = 0xFFFFFFFFU;
+ TMS570_ESM.SR[2U] = 0xFFFFFFFFU;
+ TMS570_ESM.SR4 = 0xFFFFFFFFU;
+
+ /** - Setup LPC preload */
+ TMS570_ESM.LTCPR = 16384U - 1U;
+
+ /** - Reset error pin */
+ if (TMS570_ESM.EPSR == 0U) {
+ TMS570_ESM.EKR = 0x00000005U;
+ } else {
+ TMS570_ESM.EKR = 0x00000000U;
+ }
+
+ /** - Clear interrupt level */
+ TMS570_ESM.ILCR1 = 0xFFFFFFFFU;
+ TMS570_ESM.ILCR4 = 0xFFFFFFFFU;
+
+ /** - Set interrupt level */
+ TMS570_ESM.ILSR1 = 0x00000000;
+
+ TMS570_ESM.ILSR4 = 0x00000000;
+
+ /** - Enable error pin channels */
+ TMS570_ESM.EEPAPR1 = 0x00000000;
+
+ TMS570_ESM.IEPSR4 = 0x00000000;
+
+ /** - Enable interrupts */
+ TMS570_ESM.IESR1 = 0x00000000;
+
+ TMS570_ESM.IESR4 = 0x00000000;
+}
diff --git a/c/src/lib/libbsp/arm/tms570/hwinit/init_pinmux.c b/c/src/lib/libbsp/arm/tms570/hwinit/init_pinmux.c
new file mode 100644
index 0000000000..a0ef95cffd
--- /dev/null
+++ b/c/src/lib/libbsp/arm/tms570/hwinit/init_pinmux.c
@@ -0,0 +1,259 @@
+/**
+ * @file init_pinmux.c
+ *
+ * @ingroup tms570
+ *
+ * @brief Initialize pin multiplexers.
+ */
+/*
+ * Copyright (c) 2016 Pavel Pisa <pisa@cmp.felk.cvut.cz>
+ *
+ * Czech Technical University in Prague
+ * Zikova 1903/4
+ * 166 36 Praha 6
+ * Czech Republic
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.org/license/LICENSE.
+ */
+
+#include <stdint.h>
+#include <bsp/tms570.h>
+#include <bsp/tms570-pinmux.h>
+#include <rtems.h>
+#include "tms570_hwinit.h"
+
+/*
+ * To check that content is right generated use
+ *
+ * objdump --section=.rodata -s init_pinmux.o
+ */
+#if 0
+
+/*
+ * Test of use of the default pins configuration with one line added.
+ * This can be used to concatenate partial lists but care has to
+ * be taken to not attempt to override already defined pin.
+ * This would not work and result in two PINMMR bits set
+ * for given pine.
+ */
+
+#ifndef TMS570_PINMMR_INIT_LIST
+ #define TMS570_PINMMR_INIT_LIST(per_pin_action, common_arg) \
+ TMS570_PINMMR_DEFAULT_INIT_LIST(per_pin_action, common_arg) \
+ per_pin_action(common_arg, TMS570_BALL_E3_HET2_18)
+#endif
+
+#else
+
+/*
+ * Definition of fuctions for all pins of TMS570LS3137.
+ * This setup correctponds to TMS570LS31x HDK Kit
+ */
+
+#define TMS570_PINMMR_INIT_LIST( per_pin_action, common_arg ) \
+ per_pin_action( common_arg, TMS570_BALL_W10_GIOB_3 ) \
+ per_pin_action( common_arg, TMS570_BALL_A5_GIOA_0 ) \
+ per_pin_action( common_arg, TMS570_BALL_C3_MIBSPI3NCS_3 ) \
+ per_pin_action( common_arg, TMS570_BALL_B2_MIBSPI3NCS_2 ) \
+ per_pin_action( common_arg, TMS570_BALL_C2_GIOA_1 ) \
+ per_pin_action( common_arg, TMS570_BALL_E3_HET1_11 ) \
+ per_pin_action( common_arg, TMS570_BALL_E5_EMIF_DATA_4 ) \
+ per_pin_action( common_arg, TMS570_BALL_F5_EMIF_DATA_5 ) \
+ per_pin_action( common_arg, TMS570_BALL_C1_GIOA_2 ) \
+ per_pin_action( common_arg, TMS570_BALL_G5_EMIF_DATA_6 ) \
+ per_pin_action( common_arg, TMS570_BALL_E1_GIOA_3 ) \
+ per_pin_action( common_arg, TMS570_BALL_B5_GIOA_5 ) \
+ per_pin_action( common_arg, TMS570_BALL_K5_EMIF_DATA_7 ) \
+ per_pin_action( common_arg, TMS570_BALL_B3_HET1_22 ) \
+ per_pin_action( common_arg, TMS570_BALL_H3_GIOA_6 ) \
+ per_pin_action( common_arg, TMS570_BALL_L5_EMIF_DATA_8 ) \
+ per_pin_action( common_arg, TMS570_BALL_M1_GIOA_7 ) \
+ per_pin_action( common_arg, TMS570_BALL_M5_EMIF_DATA_9 ) \
+ per_pin_action( common_arg, TMS570_BALL_V2_HET1_01 ) \
+ per_pin_action( common_arg, TMS570_BALL_U1_HET1_03 ) \
+ per_pin_action( common_arg, TMS570_BALL_K18_HET1_00 ) \
+ per_pin_action( common_arg, TMS570_BALL_W5_HET1_02 ) \
+ per_pin_action( common_arg, TMS570_BALL_V6_HET1_05 ) \
+ per_pin_action( common_arg, TMS570_BALL_N5_EMIF_DATA_10 ) \
+ per_pin_action( common_arg, TMS570_BALL_T1_HET1_07 ) \
+ per_pin_action( common_arg, TMS570_BALL_P5_EMIF_DATA_11 ) \
+ per_pin_action( common_arg, TMS570_BALL_V7_HET1_09 ) \
+ per_pin_action( common_arg, TMS570_BALL_R5_EMIF_DATA_12 ) \
+ per_pin_action( common_arg, TMS570_BALL_R6_EMIF_DATA_13 ) \
+ per_pin_action( common_arg, TMS570_BALL_V5_MIBSPI3NCS_1 ) \
+ per_pin_action( common_arg, TMS570_BALL_W3_SCIRX ) \
+ per_pin_action( common_arg, TMS570_BALL_R7_EMIF_DATA_14 ) \
+ per_pin_action( common_arg, TMS570_BALL_N2_SCITX ) \
+ per_pin_action( common_arg, TMS570_BALL_G3_MIBSPI1NCS_2 ) \
+ per_pin_action( common_arg, TMS570_BALL_N1_HET1_15 ) \
+ per_pin_action( common_arg, TMS570_BALL_R8_EMIF_DATA_15 ) \
+ per_pin_action( common_arg, TMS570_BALL_R9_ETMTRACECLKIN ) \
+ per_pin_action( common_arg, TMS570_BALL_W9_MIBSPI3NENA ) \
+ per_pin_action( common_arg, TMS570_BALL_V10_MIBSPI3NCS_0 ) \
+ per_pin_action( common_arg, TMS570_BALL_J3_MIBSPI1NCS_3 ) \
+ per_pin_action( common_arg, TMS570_BALL_N19_AD1EVT ) \
+ per_pin_action( common_arg, TMS570_BALL_N15_EMIF_DATA_3 ) \
+ per_pin_action( common_arg, TMS570_BALL_N17_EMIF_nCS_0 ) \
+ per_pin_action( common_arg, TMS570_BALL_M15_EMIF_DATA_2 ) \
+ per_pin_action( common_arg, TMS570_BALL_K17_EMIF_nCS_3 ) \
+ per_pin_action( common_arg, TMS570_BALL_M17_EMIF_nCS_4 ) \
+ per_pin_action( common_arg, TMS570_BALL_L15_EMIF_DATA_1 ) \
+ per_pin_action( common_arg, TMS570_BALL_P1_HET1_24 ) \
+ per_pin_action( common_arg, TMS570_BALL_A14_HET1_26 ) \
+ per_pin_action( common_arg, TMS570_BALL_K15_EMIF_DATA_0 ) \
+ per_pin_action( common_arg, TMS570_BALL_G19_MIBSPI1NENA ) \
+ per_pin_action( common_arg, TMS570_BALL_H18_MIBSPI5NENA ) \
+ per_pin_action( common_arg, TMS570_BALL_J18_MIBSPI5SOMI_0 ) \
+ per_pin_action( common_arg, TMS570_BALL_J19_MIBSPI5SIMO_0 ) \
+ per_pin_action( common_arg, TMS570_BALL_H19_MIBSPI5CLK ) \
+ per_pin_action( common_arg, TMS570_BALL_R2_MIBSPI1NCS_0 ) \
+ per_pin_action( common_arg, TMS570_BALL_E18_HET1_08 ) \
+ per_pin_action( common_arg, TMS570_BALL_K19_HET1_28 ) \
+ per_pin_action( common_arg, TMS570_BALL_D17_EMIF_nWE ) \
+ per_pin_action( common_arg, TMS570_BALL_D16_EMIF_BA_1 ) \
+ per_pin_action( common_arg, TMS570_BALL_C17_EMIF_ADDR_21 ) \
+ per_pin_action( common_arg, TMS570_BALL_C16_EMIF_ADDR_20 ) \
+ per_pin_action( common_arg, TMS570_BALL_C15_EMIF_ADDR_19 ) \
+ per_pin_action( common_arg, TMS570_BALL_D15_EMIF_ADDR_18 ) \
+ per_pin_action( common_arg, TMS570_BALL_E13_EMIF_BA_0 ) \
+ per_pin_action( common_arg, TMS570_BALL_C14_EMIF_ADDR_17 ) \
+ per_pin_action( common_arg, TMS570_BALL_D14_EMIF_ADDR_16 ) \
+ per_pin_action( common_arg, TMS570_BALL_E12_EMIF_nOE ) \
+ per_pin_action( common_arg, TMS570_BALL_D19_HET1_10 ) \
+ per_pin_action( common_arg, TMS570_BALL_E11_EMIF_nDQM_1 ) \
+ per_pin_action( common_arg, TMS570_BALL_B4_HET1_12 ) \
+ per_pin_action( common_arg, TMS570_BALL_E9_EMIF_ADDR_5 ) \
+ per_pin_action( common_arg, TMS570_BALL_C13_EMIF_ADDR_15 ) \
+ per_pin_action( common_arg, TMS570_BALL_A11_HET1_14 ) \
+ per_pin_action( common_arg, TMS570_BALL_C12_EMIF_ADDR_14 ) \
+ per_pin_action( common_arg, TMS570_BALL_M2_GIOB_0 ) \
+ per_pin_action( common_arg, TMS570_BALL_E8_EMIF_ADDR_4 ) \
+ per_pin_action( common_arg, TMS570_BALL_B11_HET1_30 ) \
+ per_pin_action( common_arg, TMS570_BALL_E10_EMIF_nDQM_0 ) \
+ per_pin_action( common_arg, TMS570_BALL_E7_EMIF_ADDR_3 ) \
+ per_pin_action( common_arg, TMS570_BALL_C11_EMIF_ADDR_13 ) \
+ per_pin_action( common_arg, TMS570_BALL_C10_EMIF_ADDR_12 ) \
+ per_pin_action( common_arg, TMS570_BALL_F3_MIBSPI1NCS_1 ) \
+ per_pin_action( common_arg, TMS570_BALL_C9_EMIF_ADDR_11 ) \
+ per_pin_action( common_arg, TMS570_BALL_D5_EMIF_ADDR_1 ) \
+ per_pin_action( common_arg, TMS570_BALL_K2_GIOB_1 ) \
+ per_pin_action( common_arg, TMS570_BALL_C8_EMIF_ADDR_10 ) \
+ per_pin_action( common_arg, TMS570_BALL_C7_EMIF_ADDR_9 ) \
+ per_pin_action( common_arg, TMS570_BALL_D4_EMIF_ADDR_0 ) \
+ per_pin_action( common_arg, TMS570_BALL_C5_EMIF_ADDR_7 ) \
+ per_pin_action( common_arg, TMS570_BALL_C4_EMIF_ADDR_6 ) \
+ per_pin_action( common_arg, TMS570_BALL_E6_EMIF_ADDR_2 ) \
+ per_pin_action( common_arg, TMS570_BALL_C6_EMIF_ADDR_8 ) \
+ per_pin_action( common_arg, TMS570_MMR_SELECT_SPI4CLK ) \
+ per_pin_action( common_arg, TMS570_MMR_SELECT_SPI4SIMO ) \
+ per_pin_action( common_arg, TMS570_MMR_SELECT_SPI4SOMI ) \
+ per_pin_action( common_arg, TMS570_MMR_SELECT_SPI4NENA ) \
+ per_pin_action( common_arg, TMS570_MMR_SELECT_SPI4NCS_0 ) \
+ per_pin_action( common_arg, TMS570_BALL_A13_HET1_17 ) \
+ per_pin_action( common_arg, TMS570_BALL_B13_HET1_19 ) \
+ per_pin_action( common_arg, TMS570_BALL_H4_HET1_21 ) \
+ per_pin_action( common_arg, TMS570_BALL_J4_HET1_23 ) \
+ per_pin_action( common_arg, TMS570_BALL_M3_HET1_25 ) \
+ per_pin_action( common_arg, TMS570_BALL_A9_HET1_27 ) \
+ per_pin_action( common_arg, TMS570_BALL_A3_HET1_29 ) \
+ per_pin_action( common_arg, TMS570_BALL_J17_HET1_31 ) \
+ per_pin_action( common_arg, TMS570_BALL_W6_MIBSPI5NCS_2 ) \
+ per_pin_action( common_arg, TMS570_BALL_T12_MIBSPI5NCS_3 ) \
+ per_pin_action( common_arg, TMS570_BALL_E19_MIBSPI5NCS_0 ) \
+ per_pin_action( common_arg, TMS570_BALL_B6_MIBSPI5NCS_1 ) \
+ per_pin_action( common_arg, TMS570_BALL_E16_MIBSPI5SIMO_1 ) \
+ per_pin_action( common_arg, TMS570_BALL_H17_MIBSPI5SIMO_2 ) \
+ per_pin_action( common_arg, TMS570_BALL_G17_MIBSPI5SIMO_3 ) \
+ per_pin_action( common_arg, TMS570_BALL_E17_MIBSPI5SOMI_1 ) \
+ per_pin_action( common_arg, TMS570_BALL_H16_MIBSPI5SOMI_2 ) \
+ per_pin_action( common_arg, TMS570_BALL_G16_MIBSPI5SOMI_3 ) \
+ per_pin_action( common_arg, TMS570_BALL_D3_SPI2NENA ) \
+ per_pin_action( common_arg, \
+ TMS570_MMR_SELECT_EMIF_CLK_SEL | TMS570_PIN_CLEAR_RQ_MASK ) \
+ per_pin_action( common_arg, \
+ TMS570_BALL_F2_GIOB_2 | TMS570_PIN_CLEAR_RQ_MASK ) \
+ per_pin_action( common_arg, \
+ TMS570_MMR_SELECT_GMII_SEL | TMS570_PIN_CLEAR_RQ_MASK ) \
+ per_pin_action( common_arg, TMS570_MMR_SELECT_ADC_TRG1 ) \
+
+
+#endif
+
+/*
+ * The next construct allows to compute values for individual
+ * PINMMR registers based on the multiple processing
+ * complete pin functions list at compile time.
+ * Each line computes 32-bit value which selects function
+ * of consecutive four pins. Each pin function is defined
+ * by single byte.
+ */
+const uint32_t tms570_pinmmr_init_data[] = {
+ TMS570_PINMMR_REG_VAL( 0, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 1, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 2, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 3, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 4, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 5, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 6, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 7, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 8, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 9, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 10, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 11, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 12, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 13, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 14, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 15, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 16, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 17, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 18, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 19, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 20, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 21, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 22, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 23, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 24, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 25, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 26, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 27, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 28, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 29, TMS570_PINMMR_INIT_LIST ),
+ TMS570_PINMMR_REG_VAL( 30, TMS570_PINMMR_INIT_LIST ),
+};
+
+/**
+ * @brief setups pin multiplexer according to precomputed registers values (HCG:muxInit)
+ */
+void tms570_pinmux_init( void )
+{
+ tms570_bsp_pinmmr_config( tms570_pinmmr_init_data, 0,
+ RTEMS_ARRAY_SIZE( tms570_pinmmr_init_data ) );
+}
+
+#if 0
+
+/*
+ * Alternative option how to set function of individual pins
+ * or use list for one by one setting. This is much slower
+ * and consumes more memory to hold complete list.
+ *
+ * On the other hand this solution can be used for configuration
+ * or reconfiguration of some shorter groups of pins at runtime.
+ *
+ */
+
+const uint32_t tms570_pinmmr_init_list[] = {
+ TMS570_PINMMR_COMA_LIST( TMS570_PINMMR_INIT_LIST )
+};
+
+void tms570_pinmux_init_by_list( void )
+{
+ int pincnt = RTEMS_ARRAY_SIZE( tms570_pinmmr_init_list );
+ const uint32_t *pinfnc = tms570_pinmmr_init_list;
+
+ while ( pincnt-- )
+ tms570_bsp_pin_config_one( *(pinfnc++) );
+}
+#endif
diff --git a/c/src/lib/libbsp/arm/tms570/hwinit/init_system.c b/c/src/lib/libbsp/arm/tms570/hwinit/init_system.c
new file mode 100644
index 0000000000..a0633be69a
--- /dev/null
+++ b/c/src/lib/libbsp/arm/tms570/hwinit/init_system.c
@@ -0,0 +1,378 @@
+/** @file init_system.c
+
+ based on Ti HalCoGen generated file
+ */
+
+/*
+ * Copyright (C) 2009-2015 Texas Instruments Incorporated - www.ti.com
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the
+ * distribution.
+ *
+ * Neither the name of Texas Instruments Incorporated nor the names of
+ * its contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <bsp/tms570.h>
+#include <bsp/tms570-pinmux.h>
+#include "tms570_selftest.h"
+#include "tms570_hwinit.h"
+
+/**
+ * @brief Setup all system PLLs (HCG:setupPLL)
+ *
+ */
+void tms570_pll_init( void )
+{
+ uint32_t pll12_dis = 0x42;
+
+ /* Disable PLL1 and PLL2 */
+ TMS570_SYS1.CSDISSET = pll12_dis;
+
+ /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Hardware status bit read check" */
+ while ( ( TMS570_SYS1.CSDIS & pll12_dis ) != pll12_dis ) {
+ /* Wait */
+ }
+
+ /* Clear Global Status Register */
+ TMS570_SYS1.GLBSTAT = TMS570_SYS1_GLBSTAT_FBSLIP |
+ TMS570_SYS1_GLBSTAT_RFSLIP |
+ TMS570_SYS1_GLBSTAT_OSCFAIL;
+ /** - Configure PLL control registers */
+ /** @b Initialize @b Pll1: */
+
+ /* Setup pll control register 1 */
+ TMS570_SYS1.PLLCTL1 = TMS570_SYS1_PLLCTL1_ROS * 0 |
+ TMS570_SYS1_PLLCTL1_MASK_SLIP( 1 ) |
+ TMS570_SYS1_PLLCTL1_PLLDIV( 0x1f ) | /* max value */
+ TMS570_SYS1_PLLCTL1_ROF * 0 |
+ TMS570_SYS1_PLLCTL1_REFCLKDIV( 6 - 1 ) |
+ TMS570_SYS1_PLLCTL1_PLLMUL( ( 120 - 1 ) << 8 );
+
+ /* Setup pll control register 2 */
+ TMS570_SYS1.PLLCTL2 = TMS570_SYS1_PLLCTL2_FMENA * 0 |
+ TMS570_SYS1_PLLCTL2_SPREADINGRATE( 255 ) |
+ TMS570_SYS1_PLLCTL2_MULMOD( 7 ) |
+ TMS570_SYS1_PLLCTL2_ODPLL( 2 - 1 ) |
+ TMS570_SYS1_PLLCTL2_SPR_AMOUNT( 61 );
+
+ /** @b Initialize @b Pll2: */
+
+ /* Setup pll2 control register */
+ TMS570_SYS2.PLLCTL3 = TMS570_SYS2_PLLCTL3_ODPLL2( 2 - 1 ) |
+ TMS570_SYS2_PLLCTL3_PLLDIV2( 0x1F ) | /* max value */
+ TMS570_SYS2_PLLCTL3_REFCLKDIV2( 6 - 1 ) |
+ TMS570_SYS2_PLLCTL3_PLLMUL2( ( 120 - 1 ) << 8 );
+
+ /** - Enable PLL(s) to start up or Lock */
+ TMS570_SYS1.CSDIS = 0x00000000 | /* CLKSR0 on */
+ 0x00000000 | /* CLKSR1 on */
+ 0x00000008 | /* CLKSR3 off */
+ 0x00000000 | /* CLKSR4 on */
+ 0x00000000 | /* CLKSR5 on */
+ 0x00000000 | /* CLKSR6 on */
+ 0x00000080; /* CLKSR7 off */
+}
+
+/**
+ * @brief Adjust Low-Frequency (LPO) oscilator (HCG:trimLPO)
+ *
+ */
+/* SourceId : SYSTEM_SourceId_002 */
+/* DesignId : SYSTEM_DesignId_002 */
+/* Requirements : HL_SR468 */
+void tms570_trim_lpo_init( void )
+{
+ /** @b Initialize Lpo: */
+ /** Load TRIM values from OTP if present else load user defined values */
+ /*SAFETYMCUSW 139 S MR:13.7 <APPROVED> "Hardware status bit read check" */
+ TMS570_SYS1.LPOMONCTL = TMS570_SYS1_LPOMONCTL_BIAS_ENABLE |
+ TMS570_SYS1_LPOMONCTL_OSCFRQCONFIGCNT * 0 |
+ TMS570_SYS1_LPOMONCTL_HFTRIM( 16 ) |
+ 16; /* LFTRIM */
+}
+
+/* FIXME */
+enum tms570_flash_power_modes {
+ TMS570_FLASH_SYS_SLEEP = 0U, /**< Alias for flash bank power mode sleep */
+ TMS570_FLASH_SYS_STANDBY = 1U, /**< Alias for flash bank power mode standby */
+ TMS570_FLASH_SYS_ACTIVE = 3U /**< Alias for flash bank power mode active */
+};
+
+enum tms570_system_clock_source {
+ TMS570_SYS_CLK_SRC_OSC = 0U, /**< Alias for oscillator clock Source */
+ TMS570_SYS_CLK_SRC_PLL1 = 1U, /**< Alias for Pll1 clock Source */
+ TMS570_SYS_CLK_SRC_EXTERNAL1 = 3U, /**< Alias for external clock Source */
+ TMS570_SYS_CLK_SRC_LPO_LOW = 4U, /**< Alias for low power oscillator low clock Source */
+ TMS570_SYS_CLK_SRC_LPO_HIGH = 5U, /**< Alias for low power oscillator high clock Source */
+ TMS570_SYS_CLK_SRC_PLL2 = 6U, /**< Alias for Pll2 clock Source */
+ TMS570_SYS_CLK_SRC_EXTERNAL2 = 7U, /**< Alias for external 2 clock Source */
+ TMS570_SYS_CLK_SRC_VCLK = 9U /**< Alias for synchronous VCLK1 clock Source */
+};
+
+/**
+ * @brief Setup Flash memory parameters and timing (HCG:setupFlash)
+ *
+ */
+/* SourceId : SYSTEM_SourceId_003 */
+/* DesignId : SYSTEM_DesignId_003 */
+/* Requirements : HL_SR457 */
+void tms570_flash_init( void )
+{
+ /** - Setup flash read mode, address wait states and data wait states */
+ TMS570_FLASH.FRDCNTL = TMS570_FLASH_FRDCNTL_RWAIT( 3 ) |
+ TMS570_FLASH_FRDCNTL_ASWSTEN |
+ TMS570_FLASH_FRDCNTL_ENPIPE;
+
+ /** - Setup flash access wait states for bank 7 */
+ TMS570_FLASH.FSMWRENA = TMS570_FLASH_FSMWRENA_WR_ENA( 0x5 );
+ TMS570_FLASH.EEPROMCONFIG = TMS570_FLASH_EEPROMCONFIG_EWAIT( 3 ) |
+ TMS570_FLASH_EEPROMCONFIG_AUTOSUSP_EN * 0 |
+ TMS570_FLASH_EEPROMCONFIG_AUTOSTART_GRACE( 2 );
+
+ /** - Disable write access to flash state machine registers */
+ TMS570_FLASH.FSMWRENA = TMS570_FLASH_FSMWRENA_WR_ENA( 0xA );
+
+ /** - Setup flash bank power modes */
+ TMS570_FLASH.FBFALLBACK = TMS570_FLASH_FBFALLBACK_BANKPWR7(
+ TMS570_FLASH_SYS_ACTIVE ) |
+ TMS570_FLASH_FBFALLBACK_BANKPWR1(
+ TMS570_FLASH_SYS_ACTIVE ) |
+ TMS570_FLASH_FBFALLBACK_BANKPWR0(
+ TMS570_FLASH_SYS_ACTIVE );
+}
+
+/**
+ * @brief Power-up all peripherals and enable their clocks (HCG:periphInit)
+ *
+ */
+/* SourceId : SYSTEM_SourceId_004 */
+/* DesignId : SYSTEM_DesignId_004 */
+/* Requirements : HL_SR470 */
+void tms570_periph_init( void )
+{
+ /** - Disable Peripherals before peripheral powerup*/
+ TMS570_SYS1.CLKCNTL &= ~TMS570_SYS1_CLKCNTL_PENA;
+
+ /** - Release peripherals from reset and enable clocks to all peripherals */
+ /** - Power-up all peripherals */
+ TMS570_PCR.PSPWRDWNCLR0 = 0xFFFFFFFFU;
+ TMS570_PCR.PSPWRDWNCLR1 = 0xFFFFFFFFU;
+ TMS570_PCR.PSPWRDWNCLR2 = 0xFFFFFFFFU;
+ TMS570_PCR.PSPWRDWNCLR3 = 0xFFFFFFFFU;
+
+ /** - Enable Peripherals */
+ TMS570_SYS1.CLKCNTL |= TMS570_SYS1_CLKCNTL_PENA;
+}
+
+/**
+ * @brief Setup chip clocks including to wait for PLLs locks (HCG:mapClocks)
+ *
+ */
+/* SourceId : SYSTEM_SourceId_005 */
+/* DesignId : SYSTEM_DesignId_005 */
+/* Requirements : HL_SR469 */
+void tms570_map_clock_init( void )
+{
+ uint32_t sys_csvstat, sys_csdis;
+
+ /** @b Initialize @b Clock @b Tree: */
+ /** - Disable / Enable clock domain */
+ TMS570_SYS1.CDDIS = ( 0U << 4U ) | /* AVCLK 1 OFF */
+ ( 0U << 5U ) | /* AVCLK 2 OFF */
+ ( 0U << 8U ) | /* VCLK3 OFF */
+ ( 0U << 9U ) | /* VCLK4 OFF */
+ ( 1U << 10U ) | /* AVCLK 3 OFF */
+ ( 0U << 11U ); /* AVCLK 4 OFF */
+
+ /* Work Around for Errata SYS#46:
+ *
+ * Errata Description:
+ * Clock Source Switching Not Qualified with Clock Source Enable And Clock Source Valid
+ * Workaround:
+ * Always check the CSDIS register to make sure the clock source is turned on and check
+ * the CSVSTAT register to make sure the clock source is valid. Then write to GHVSRC to switch the clock.
+ */
+ /** - Wait for until clocks are locked */
+ sys_csvstat = TMS570_SYS1.CSVSTAT;
+ sys_csdis = TMS570_SYS1.CSDIS;
+
+ while ( ( sys_csvstat & ( ( sys_csdis ^ 0xFFU ) & 0xFFU ) ) !=
+ ( ( sys_csdis ^ 0xFFU ) & 0xFFU ) ) {
+ sys_csvstat = TMS570_SYS1.CSVSTAT;
+ sys_csdis = TMS570_SYS1.CSDIS;
+ } /* Wait */
+
+ /* Now the PLLs are locked and the PLL outputs can be sped up */
+ /* The R-divider was programmed to be 0xF. Now this divider is changed to programmed value */
+ TMS570_SYS1.PLLCTL1 =
+ ( TMS570_SYS1.PLLCTL1 & ~TMS570_SYS1_PLLCTL1_PLLDIV( 0x1F ) ) |
+ TMS570_SYS1_PLLCTL1_PLLDIV( 1 - 1 );
+ /*SAFETYMCUSW 134 S MR:12.2 <APPROVED> "LDRA Tool issue" */
+ TMS570_SYS2.PLLCTL3 =
+ ( TMS570_SYS2.PLLCTL3 & ~TMS570_SYS2_PLLCTL3_PLLDIV2( 0x1F ) ) |
+ TMS570_SYS2_PLLCTL3_PLLDIV2( 1 - 1 );
+
+ /* Enable/Disable Frequency modulation */
+ TMS570_SYS1.PLLCTL2 &= ~TMS570_SYS1_PLLCTL2_FMENA;
+
+ /** - Map device clock domains to desired sources and configure top-level dividers */
+ /** - All clock domains are working off the default clock sources until now */
+ /** - The below assignments can be easily modified using the HALCoGen GUI */
+
+ /** - Setup GCLK, HCLK and VCLK clock source for normal operation, power down mode and after wakeup */
+ TMS570_SYS1.GHVSRC = TMS570_SYS1_GHVSRC_GHVWAKE( TMS570_SYS_CLK_SRC_OSC ) |
+ TMS570_SYS1_GHVSRC_HVLPM( TMS570_SYS_CLK_SRC_OSC ) |
+ TMS570_SYS1_GHVSRC_GHVSRC( TMS570_SYS_CLK_SRC_PLL1 );
+
+ /** - Setup synchronous peripheral clock dividers for VCLK1, VCLK2, VCLK3 */
+ TMS570_SYS1.CLKCNTL =
+ ( TMS570_SYS1.CLKCNTL & ~TMS570_SYS1_CLKCNTL_VCLK2R( 0xF ) ) |
+ TMS570_SYS1_CLKCNTL_VCLK2R( 1 );
+
+ TMS570_SYS1.CLKCNTL =
+ ( TMS570_SYS1.CLKCNTL & ~TMS570_SYS1_CLKCNTL_VCLKR( 0xF ) ) |
+ TMS570_SYS1_CLKCNTL_VCLKR( 1 );
+
+ TMS570_SYS2.CLK2CNTRL =
+ ( TMS570_SYS2.CLK2CNTRL & ~TMS570_SYS2_CLK2CNTRL_VCLK3R( 0xF ) ) |
+ TMS570_SYS2_CLK2CNTRL_VCLK3R( 1 );
+
+ TMS570_SYS2.CLK2CNTRL = ( TMS570_SYS2.CLK2CNTRL & 0xFFFFF0FFU ) |
+ ( 1U << 8U ); /* FIXME: unknown in manual*/
+
+ /** - Setup RTICLK1 and RTICLK2 clocks */
+ TMS570_SYS1.RCLKSRC = ( 1U << 24U ) |
+ ( TMS570_SYS_CLK_SRC_VCLK << 16U ) | /* FIXME: not in manual */
+ TMS570_SYS1_RCLKSRC_RTI1DIV( 1 ) |
+ TMS570_SYS1_RCLKSRC_RTI1SRC( TMS570_SYS_CLK_SRC_VCLK );
+
+ /** - Setup asynchronous peripheral clock sources for AVCLK1 and AVCLK2 */
+ TMS570_SYS1.VCLKASRC =
+ TMS570_SYS1_VCLKASRC_VCLKA2S( TMS570_SYS_CLK_SRC_VCLK ) |
+ TMS570_SYS1_VCLKASRC_VCLKA1S( TMS570_SYS_CLK_SRC_VCLK );
+
+ TMS570_SYS2.VCLKACON1 = TMS570_SYS2_VCLKACON1_VCLKA4R( 1 - 1 ) |
+ TMS570_SYS2_VCLKACON1_VCLKA4_DIV_CDDIS * 0 |
+ TMS570_SYS2_VCLKACON1_VCLKA4S(
+ TMS570_SYS_CLK_SRC_VCLK ) |
+ TMS570_SYS2_VCLKACON1_VCLKA3R( 1 - 1 ) |
+ TMS570_SYS2_VCLKACON1_VCLKA3_DIV_CDDIS * 0 |
+ TMS570_SYS2_VCLKACON1_VCLKA3S(
+ TMS570_SYS_CLK_SRC_VCLK );
+}
+
+/**
+ * @brief TMS570 system hardware initialization (HCG:systemInit)
+ *
+ */
+/* SourceId : SYSTEM_SourceId_006 */
+/* DesignId : SYSTEM_DesignId_006 */
+/* Requirements : HL_SR471 */
+void tms570_system_hw_init( void )
+{
+ uint32_t efc_check_status;
+
+ /* Configure PLL control registers and enable PLLs.
+ * The PLL takes (127 + 1024 * NR) oscillator cycles to acquire lock.
+ * This initialization sequence performs all the tasks that are not
+ * required to be done at full application speed while the PLL locks.
+ */
+ tms570_pll_init();
+
+ /* Run eFuse controller start-up checks and start eFuse controller ECC self-test.
+ * This includes a check for the eFuse controller error outputs to be stuck-at-zero.
+ */
+ efc_check_status = tms570_efc_check();
+
+ /* Enable clocks to peripherals and release peripheral reset */
+ tms570_periph_init();
+
+ /* Configure device-level multiplexing and I/O multiplexing */
+ tms570_pinmux_init();
+
+ /* Enable external memory interface */
+ TMS570_SYS1.GPREG1 |= TMS570_SYS1_GPREG1_EMIF_FUNC;
+
+ if ( efc_check_status == 0U ) {
+ /* Wait for eFuse controller self-test to complete and check results */
+ if ( tms570_efc_check_self_test() == false ) { /* eFuse controller ECC logic self-test failed */
+ bsp_selftest_fail_notification( EFCCHECK_FAIL1 ); /* device operation is not reliable */
+ }
+ } else if ( efc_check_status == 2U ) {
+ /* Wait for eFuse controller self-test to complete and check results */
+ if ( tms570_efc_check_self_test() == false ) { /* eFuse controller ECC logic self-test failed */
+ bsp_selftest_fail_notification( EFCCHECK_FAIL1 ); /* device operation is not reliable */
+ } else {
+ bsp_selftest_fail_notification( EFCCHECK_FAIL2 );
+ }
+ } else {
+ /* Empty */
+ }
+
+ /** - Set up flash address and data wait states based on the target CPU clock frequency
+ * The number of address and data wait states for the target CPU clock frequency are specified
+ * in the specific part's datasheet.
+ */
+ tms570_flash_init();
+
+ /** - Configure the LPO such that HF LPO is as close to 10MHz as possible */
+ tms570_trim_lpo_init();
+
+ /** - Wait for PLLs to start up and map clock domains to desired clock sources */
+ tms570_map_clock_init();
+
+ /** - set ECLK pins functional mode */
+ TMS570_SYS1.SYSPC1 = 0U;
+
+ /** - set ECLK pins default output value */
+ TMS570_SYS1.SYSPC4 = 0U;
+
+ /** - set ECLK pins output direction */
+ TMS570_SYS1.SYSPC2 = 1U;
+
+ /** - set ECLK pins open drain enable */
+ TMS570_SYS1.SYSPC7 = 0U;
+
+ /** - set ECLK pins pullup/pulldown enable */
+ TMS570_SYS1.SYSPC8 = 0U;
+
+ /** - set ECLK pins pullup/pulldown select */
+ TMS570_SYS1.SYSPC9 = 1U;
+
+ /** - Setup ECLK */
+ TMS570_SYS1.ECPCNTL = TMS570_SYS1_ECPCNTL_ECPSSEL * 0 |
+ TMS570_SYS1_ECPCNTL_ECPCOS * 0 |
+ TMS570_SYS1_ECPCNTL_ECPDIV( 8 - 1 );
+}
+
+#if 0
+errata_PBIST_4
+vimInit
+#endif
diff --git a/c/src/lib/libbsp/arm/tms570/hwinit/tms570_hwinit.h b/c/src/lib/libbsp/arm/tms570/hwinit/tms570_hwinit.h
new file mode 100644
index 0000000000..2c84b6e5fa
--- /dev/null
+++ b/c/src/lib/libbsp/arm/tms570/hwinit/tms570_hwinit.h
@@ -0,0 +1,31 @@
+#ifndef LIBBSP_ARM_TMS570_HWINIT_H
+#define LIBBSP_ARM_TMS570_HWINIT_H
+
+#define TMS570_TCRAM_START_PTR ( (void *) ( 0x08000000U ) )
+#define TMS570_TCRAM_WINDOW_END_PTR ( (void *) ( 0x08080000U ) )
+
+#define TMS570_SDRAM_START_PTR ( (void *) ( 0x80000000U ) )
+#define TMS570_SDRAM_WINDOW_END_PTR ( (void *) ( 0xA0000000U ) )
+
+/* Ti TMS570 core setup implemented in assembly */
+void _esmCcmErrorsClear_( void );
+void _coreEnableEventBusExport_( void );
+void _errata_CORTEXR4_66_( void );
+void _errata_CORTEXR4_57_( void );
+void _coreEnableRamEcc_( void );
+void _coreDisableRamEcc_( void );
+void _mpuInit_( void );
+
+void tms570_emif_sdram_init( void );
+void tms570_memory_init( uint32_t ram );
+void tms570_system_hw_init( void );
+void tms570_pinmux_init( void );
+void tms570_pll_init( void );
+void tms570_trim_lpo_init( void );
+void tms570_flash_init( void );
+void tms570_periph_init( void );
+void tms570_map_clock_init( void );
+void tms570_system_hw_init( void );
+void tms570_esm_init( void );
+
+#endif /* LIBBSP_ARM_TMS570_HWINIT_H */
diff --git a/c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest.c b/c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest.c
new file mode 100644
index 0000000000..d0711c1f74
--- /dev/null
+++ b/c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest.c
@@ -0,0 +1,598 @@
+/**
+ * @file tms570_selftest.c
+ *
+ * @ingroup tms570
+ *
+ * @brief TMS570 selftest support functions implementation.
+ */
+/*
+ * Copyright (C) 2009-2015 Texas Instruments Incorporated - www.ti.com
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the
+ * distribution.
+ *
+ * Neither the name of Texas Instruments Incorporated nor the names of
+ * its contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <bsp/tms570.h>
+#include "tms570_selftest.h"
+#include "tms570_hwinit.h"
+
+/**
+ * @brief Checks to see if the EFUSE Stuck at zero test is completed successfully (HCG:efcStuckZeroTest).
+ /
+ * @return 1 if EFUSE Stuck at zero test completed, otherwise 0.
+ *
+ * Checks to see if the EFUSE Stuck at zero test is completed successfully.
+ */
+/* SourceId : SELFTEST_SourceId_012 */
+/* DesignId : SELFTEST_DesignId_014 */
+/* Requirements : HL_SR402 */
+bool tms570_efc_stuck_zero( void )
+{
+ uint32_t esm_estatus4, esm_estatus1;
+
+ bool result = false;
+
+ uint32_t output_enable = TMS570_EFUSE_EFCBOUND_Self_Test_Error_OE |
+ TMS570_EFUSE_EFCBOUND_Single_Bit_Error_OE |
+ TMS570_EFUSE_EFCBOUND_Instruction_Error_OE |
+ TMS570_EFUSE_EFCBOUND_Autoload_Error_OE;
+
+ uint32_t error_checks = TMS570_EFUSE_EFCBOUND_EFC_Single_Bit_Error |
+ TMS570_EFUSE_EFCBOUND_EFC_Instruction_Error |
+ TMS570_EFUSE_EFCBOUND_EFC_Autoload_Error |
+ TMS570_EFUSE_EFCBOUND_EFC_Self_Test_Error;
+
+ /* configure the output enable for auto load error , instruction info,
+ instruction error, and self test error using boundary register
+ and drive values one across all the errors */
+ TMS570_EFUSE.EFCBOUND = output_enable | error_checks;
+
+ /* Read from the pin register. This register holds the current values
+ of above errors. This value should be 0x5c00.If not at least one of
+ the above errors is stuck at 0. */
+ if ( ( TMS570_EFUSE.EFCPINS & 0x5C00U ) == 0x5C00U ) {
+ esm_estatus4 = TMS570_ESM.SR4;
+ esm_estatus1 = TMS570_ESM.SR[ 2U ];
+
+ /* check if the ESM group1 channel 41 is set and group3 channel 1 is set */
+ if ( ( ( esm_estatus4 & 0x200U ) == 0x200U ) &&
+ ( ( esm_estatus1 & 0x2U ) == 0x2U ) ) {
+ /* stuck-at-zero test passed */
+ result = true;
+ }
+ }
+
+ /* put the pins back low */
+ TMS570_EFUSE.EFCBOUND = output_enable;
+
+ /* clear group1 flag */
+ TMS570_ESM.SR4 = 0x200U;
+
+ /* clear group3 flag */
+ TMS570_ESM.SR[ 2U ] = 0x2U;
+
+ /* The nERROR pin will become inactive once the LTC counter expires */
+ TMS570_ESM.EKR = 0x5U;
+
+ return result;
+}
+
+/**
+ * @brief EFUSE module self check Driver (HCG:efcSelfTest)
+ *
+ * This function self checks the EFSUE module.
+ */
+/* SourceId : SELFTEST_SourceId_013 */
+/* DesignId : SELFTEST_DesignId_013 */
+/* Requirements : HL_SR402 */
+void tms570_efc_self_test( void )
+{
+ /* configure self-test cycles */
+ TMS570_EFUSE.EFC_ST_CY = 0x258U;
+
+ /* configure self-test signature */
+ TMS570_EFUSE.EFC_ST_SIG = 0x5362F97FU;
+
+ /* configure boundary register to start ECC self-test */
+ TMS570_EFUSE.EFCBOUND = 0x00002000 |
+ TMS570_EFUSE_EFCBOUND_Input_Enable( 0xF );
+}
+
+/**
+ * @brief EFUSE module self check Driver (HCG:checkefcSelfTest)
+ *
+ * @return Returns TRUE if EFC Selftest was a PASS, else FALSE
+ *
+ * This function returns the status of efcSelfTest.
+ * Note: This function can be called only after calling efcSelfTest
+ */
+/* SourceId : SELFTEST_SourceId_014 */
+/* DesignId : SELFTEST_DesignId_015 */
+/* Requirements : HL_SR403 */
+bool tms570_efc_check_self_test( void )
+{
+ bool result = false;
+
+ uint32_t efc_pins, efc_error;
+ uint32_t esmCh40Stat, esmCh41Stat = 0U;
+
+ /* wait until EFC self-test is done */
+ /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Hardware status bit read check" */
+ while ( ( TMS570_EFUSE.EFCPINS & TMS570_EFUSE_EFCPINS_EFC_Selftest_Done ) ==
+ 0U ) {
+ } /* Wait */
+
+ /* check if EFC self-test error occurred */
+ efc_pins = TMS570_EFUSE.EFCPINS;
+ efc_error = TMS570_EFUSE.EFC_ERR_STAT;
+
+ if ( ( ( efc_pins & TMS570_EFUSE_EFCPINS_EFC_Selftest_Error ) == 0U ) &&
+ ( ( efc_error & 0x1FU ) == 0U ) ) {
+ /* check if EFC self-test error is set */
+ esmCh40Stat = TMS570_ESM.SR4 & 0x100U;
+ esmCh41Stat = TMS570_ESM.SR4 & 0x200U;
+
+ if ( ( esmCh40Stat == 0U ) && ( esmCh41Stat == 0U ) ) {
+ result = true;
+ }
+ }
+
+ return result;
+}
+
+/**
+ * @brief EFUSE module self check Driver (HCG:efcCheck)
+ * @return Returns 0 if no error was detected during autoload and Stuck At Zero Test passed
+ * 1 if no error was detected during autoload but Stuck At Zero Test failed
+ * 2 if there was a single-bit error detected during autoload
+ * 3 if some other error occurred during autoload
+ *
+ * This function self checks the EFUSE module.
+ */
+/* SourceId : SELFTEST_SourceId_011 */
+/* DesignId : SELFTEST_DesignId_012 */
+/* Requirements : HL_SR402 */
+uint32_t tms570_efc_check( void )
+{
+ uint32_t efc_status = 0U;
+ uint32_t status;
+
+ /* read the EFC Error Status Register */
+ efc_status = TMS570_EFUSE.EFC_ERR_STAT;
+
+ if ( efc_status == 0x0U ) {
+ /* run stuck-at-zero test and check if it passed */
+ if ( tms570_efc_stuck_zero() == true ) {
+ /* start EFC ECC logic self-test */
+ tms570_efc_self_test();
+ status = 0U;
+ } else {
+ /* EFC output is stuck-at-zero, device operation unreliable */
+ bsp_selftest_fail_notification( EFCCHECK_FAIL1 );
+ status = 1U;
+ }
+ }
+ /* EFC Error Register is not zero */
+ else {
+ /* one-bit error detected during autoload */
+ if ( efc_status == 0x15U ) {
+ /* start EFC ECC logic self-test */
+ tms570_efc_self_test();
+ status = 2U;
+ } else {
+ /* Some other EFC error was detected */
+ bsp_selftest_fail_notification( EFCCHECK_FAIL1 );
+ status = 3U;
+ }
+ }
+
+ return status;
+}
+
+/**
+ * @brief PBIST self test Driver (HCG:pbistSelfCheck)
+ *
+ * This function is called to perform PBIST self test.
+ */
+/* SourceId : SELFTEST_SourceId_005 */
+/* DesignId : SELFTEST_DesignId_005 */
+/* Requirements : HL_SR399 */
+void tms570_pbist_self_check( void )
+{
+ volatile uint32_t i = 0U;
+ uint32_t PBIST_wait_done_loop = 0U;
+
+ /* Run a diagnostic check on the memory self-test controller */
+ /* First set up the PBIST ROM clock as this clock frequency is limited to 90MHz */
+
+ /* Disable PBIST clocks and ROM clock */
+ TMS570_PBIST.PACT = 0x0U;
+
+ /* PBIST ROM clock frequency = HCLK frequency /2 */
+ /* Disable memory self controller */
+ TMS570_SYS1.MSTGCR = 0x00000105U;
+
+ /* Disable Memory Initialization controller */
+ TMS570_SYS1.MINITGCR = 0x5U;
+
+ /* Enable memory self controller */
+ TMS570_SYS1.MSTGCR = 0x0000010AU;
+
+ /* Clear PBIST Done */
+ TMS570_SYS1.MSTCGSTAT = 0x1U;
+
+ /* Enable PBIST controller */
+ TMS570_SYS1.MSIENA = 0x1U;
+
+ /* wait for 32 VBUS clock cycles at least, based on HCLK to VCLK ratio */
+ /*SAFETYMCUSW 134 S MR:12.2 <APPROVED> "Wait for few clock cycles (Value of i not used)" */
+ /*SAFETYMCUSW 134 S MR:12.2 <APPROVED> "Wait for few clock cycles (Value of i not used)" */
+ for ( i = 0U; i < ( 32U + ( 32U * 1U ) ); i++ ) { /* Wait */
+ }
+
+ /* Enable PBIST clocks and ROM clock */
+ TMS570_PBIST.PACT = 0x3U;
+
+ /* CPU control of PBIST */
+ TMS570_PBIST.DLR = 0x10U;
+
+ /* Custom always fail algo, this will not use the ROM and just set a fail */
+ TMS570_PBIST.RAMT = 0x00002000U;
+ *(volatile uint32_t *) 0xFFFFE400U = 0x4C000001U;
+ *(volatile uint32_t *) 0xFFFFE440U = 0x00000075U;
+ *(volatile uint32_t *) 0xFFFFE404U = 0x4C000002U;
+ *(volatile uint32_t *) 0xFFFFE444U = 0x00000075U;
+ *(volatile uint32_t *) 0xFFFFE408U = 0x4C000003U;
+ *(volatile uint32_t *) 0xFFFFE448U = 0x00000075U;
+ *(volatile uint32_t *) 0xFFFFE40CU = 0x4C000004U;
+ *(volatile uint32_t *) 0xFFFFE44CU = 0x00000075U;
+ *(volatile uint32_t *) 0xFFFFE410U = 0x4C000005U;
+ *(volatile uint32_t *) 0xFFFFE450U = 0x00000075U;
+ *(volatile uint32_t *) 0xFFFFE414U = 0x4C000006U;
+ *(volatile uint32_t *) 0xFFFFE454U = 0x00000075U;
+ *(volatile uint32_t *) 0xFFFFE418U = 0x00000000U;
+ *(volatile uint32_t *) 0xFFFFE458U = 0x00000001U;
+
+ /* PBIST_RUN */
+ ( &TMS570_PBIST.DLR )[ 2 ] = 1;
+
+ /* wait until memory self-test done is indicated */
+ /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Hardware status bit read check" */
+ while ( ( TMS570_SYS1.MSTCGSTAT & 0x1U ) != 0x1U )
+ PBIST_wait_done_loop++;
+
+ /* Wait */
+
+ /* Check for the failure */
+ if ( ( TMS570_PBIST.FSRF0 & 0x1U ) != 0x1U ) {
+ /* No failure was indicated even if the always fail algorithm was run*/
+ bsp_selftest_fail_notification( PBISTSELFCHECK_FAIL1 );
+ } else {
+ /* Check that the algorithm executed in the expected amount of time. */
+ /* This time is dependent on the ROMCLKDIV selected above */
+ if ( PBIST_wait_done_loop >= 2U ) {
+ bsp_selftest_fail_notification( PBISTSELFCHECK_FAIL2 );
+ }
+
+ /* Disable PBIST clocks and ROM clock */
+ TMS570_PBIST.PACT = 0x0U;
+
+ /* Disable PBIST */
+ TMS570_SYS1.MSTGCR &= 0xFFFFFFF0U;
+ TMS570_SYS1.MSTGCR |= 0x5U;
+ }
+}
+
+/**
+ * @brief CPU self test Driver (HCG:pbistRun)
+ * @param[in] raminfoL - Select the list of RAM to be tested.
+ * @param[in] algomask - Select the list of Algorithm to be run.
+ *
+ * This function performs Memory Built-in Self test using PBIST module.
+ */
+/* SourceId : SELFTEST_SourceId_006 */
+/* DesignId : SELFTEST_DesignId_006 */
+/* Requirements : HL_SR400 */
+void tms570_pbist_run(
+ uint32_t raminfoL,
+ uint32_t algomask
+)
+{
+ volatile uint32_t i = 0U;
+
+ /* PBIST ROM clock frequency = HCLK frequency /2 */
+ /* Disable memory self controller */
+ TMS570_SYS1.MSTGCR = 0x00000105U;
+
+ /* Disable Memory Initialization controller */
+ TMS570_SYS1.MINITGCR = 0x5U;
+
+ /* Enable PBIST controller */
+ TMS570_SYS1.MSIENA = 0x1U;
+
+ /* Enable memory self controller */
+ TMS570_SYS1.MSTGCR = 0x0000010AU;
+
+ /* wait for 32 VBUS clock cycles at least, based on HCLK to VCLK ratio */
+ /*SAFETYMCUSW 134 S MR:12.2 <APPROVED> "Wait for few clock cycles (Value of i not used)" */
+ /*SAFETYMCUSW 134 S MR:12.2 <APPROVED> "Wait for few clock cycles (Value of i not used)" */
+ for ( i = 0U; i < ( 32U + ( 32U * 1U ) ); i++ ) { /* Wait */
+ }
+
+ /* Enable PBIST clocks and ROM clock */
+ TMS570_PBIST.PACT = 0x3U;
+
+ /* Select all algorithms to be tested */
+ TMS570_PBIST.ALGO = algomask;
+
+ /* Select RAM groups */
+ TMS570_PBIST.RINFOL = raminfoL;
+
+ /* Select all RAM groups */
+ TMS570_PBIST.RINFOUL = 0x00000000U;
+
+ /* ROM contents will not override RINFOx settings */
+ TMS570_PBIST.OVER = 0x0U;
+
+ /* Algorithm code is loaded from ROM */
+ TMS570_PBIST.ROM = 0x3U;
+
+ /* Start PBIST */
+ TMS570_PBIST.DLR = 0x14U;
+}
+
+/**
+ * @brief Routine to stop PBIST test enabled (HCG:pbistStop)
+ *
+ * This function is called to stop PBIST after test is performed.
+ */
+/* SourceId : SELFTEST_SourceId_007 */
+/* DesignId : SELFTEST_DesignId_007 */
+/* Requirements : HL_SR523 */
+void tms570_pbist_stop( void )
+{
+ /* disable pbist clocks and ROM clock */
+ TMS570_PBIST.PACT = 0x0U;
+ TMS570_SYS1.MSTGCR &= 0xFFFFFFF0U;
+ TMS570_SYS1.MSTGCR |= 0x5U;
+}
+
+/**
+ * @brief Checks to see if the PBIST test is completed (HCG:pbistIsTestCompleted)
+ * @return 1 if PBIST test completed, otherwise 0.
+ *
+ * Checks to see if the PBIST test is completed.
+ */
+/* SourceId : SELFTEST_SourceId_008 */
+/* DesignId : SELFTEST_DesignId_008 */
+/* Requirements : HL_SR401 */
+bool tms570_pbist_is_test_completed( void )
+{
+ return ( ( TMS570_SYS1.MSTCGSTAT & 0x1U ) != 0U );
+}
+
+/**
+ * @brief Checks to see if the PBIST test is completed successfully (HCG:pbistIsTestPassed)
+ * @return 1 if PBIST test passed, otherwise 0.
+ *
+ * Checks to see if the PBIST test is completed successfully.
+ */
+/* SourceId : SELFTEST_SourceId_009 */
+/* DesignId : SELFTEST_DesignId_009 */
+/* Requirements : HL_SR401 */
+bool tms570_pbist_is_test_passed( void )
+{
+ bool status;
+
+ if ( TMS570_PBIST.FSRF0 == 0U ) {
+ status = true;
+ } else {
+ status = false;
+ }
+
+ return status;
+}
+
+/**
+ * @brief Checks to see if the PBIST Port test is completed successfully (HCG:pbistPortTestStatus)
+ * @param[in] port - Select the port to get the status.
+ * @return 1 if PBIST Port test completed successfully, otherwise 0.
+ *
+ * Checks to see if the selected PBIST Port test is completed successfully.
+ */
+/* SourceId : SELFTEST_SourceId_010 */
+/* DesignId : SELFTEST_DesignId_010 */
+/* Requirements : HL_SR401 */
+bool tms570_pbist_port_test_status( uint32_t port )
+{
+ bool status;
+
+ if ( port == (uint32_t) PBIST_PORT0 ) {
+ status = ( TMS570_PBIST.FSRF0 == 0U );
+ } else {
+ /* Invalid Input */
+ status = false;
+ }
+
+ return status;
+}
+
+/**
+ * @brief Reaction to PBIST failure (HCG:pbistFail)
+ *
+ * @return Void.
+ */
+/* SourceId : SELFTEST_SourceId_042 */
+/* DesignId : SELFTEST_DesignId_011 */
+/* Requirements : HL_SR401 */
+void tms570_pbist_fail( void )
+{
+ uint32_t PBIST_RAMT, PBIST_FSRA0, PBIST_FSRDL0;
+
+ /*SAFETYMCUSW 134 S MR:12.2 <APPROVED> "LDRA Tool issue" */
+ PBIST_RAMT = TMS570_PBIST.RAMT;
+ PBIST_FSRA0 = TMS570_PBIST.FSRA0;
+ PBIST_FSRDL0 = TMS570_PBIST.FSRDL0;
+
+ if ( tms570_pbist_port_test_status( (uint32_t) PBIST_PORT0 ) != true ) {
+ uint32_t groupSelect = ( PBIST_RAMT & 0xFF000000U ) >> 24U;
+ uint32_t dataSelect = ( PBIST_RAMT & 0x00FF0000U ) >> 16U;
+ uint32_t address = PBIST_FSRA0;
+ uint32_t data = PBIST_FSRDL0;
+ tms570_memory_port0_fail_notification( groupSelect,
+ dataSelect,
+ address,
+ data );
+ } else {
+/*SAFETYMCUSW 5 C MR:NA <APPROVED> "for(;;) can be removed by adding "# if 0" and "# endif" in the user codes above and below" */
+/*SAFETYMCUSW 26 S MR:NA <APPROVED> "for(;;) can be removed by adding "# if 0" and "# endif" in the user codes above and below" */
+/*SAFETYMCUSW 28 D MR:NA <APPROVED> "for(;;) can be removed by adding "# if 0" and "# endif" in the user codes above and below" */
+ for (;; ) {
+ } /* Wait */
+ }
+}
+
+/**
+ * @brief Memory Initialization Driver (HCG:memoryInit)
+ *
+ * This function is called to perform Memory initialization of selected RAM's.
+ */
+/* SourceId : SELFTEST_SourceId_002 */
+/* DesignId : SELFTEST_DesignId_004 */
+/* Requirements : HL_SR396 */
+void tms570_memory_init( uint32_t ram )
+{
+ /* Enable Memory Hardware Initialization */
+ TMS570_SYS1.MINITGCR = 0xAU;
+
+ /* Enable Memory Hardware Initialization for selected RAM's */
+ TMS570_SYS1.MSIENA = ram;
+
+ /* Wait until Memory Hardware Initialization complete */
+ /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Hardware status bit read check" */
+ while ( ( TMS570_SYS1.MSTCGSTAT & 0x00000100U ) != 0x00000100U ) {
+ } /* Wait */
+
+ /* Disable Memory Hardware Initialization */
+ TMS570_SYS1.MINITGCR = 0x5U;
+}
+
+volatile uint32_t *const
+tms570_esm_group_channel_to_sr_table[ 4 ][ 2 ] = {
+ { NULL, NULL },
+ { &TMS570_ESM.SR[ 0 ], &TMS570_ESM.SR4 },
+ { &TMS570_ESM.SR[ 1 ], NULL },
+ { &TMS570_ESM.SR[ 2 ], NULL },
+};
+
+/**
+ * @brief Routine to clear specified error channel signalling bit
+ * @param[in] grp - ESM error channels group
+ * @param[in] chan - ESM error channel number inside specified group
+ */
+void tms570_esm_channel_sr_clear(
+ unsigned grp,
+ unsigned chan
+)
+{
+ volatile uint32_t *sr_reg;
+
+ sr_reg = tms570_esm_group_channel_to_sr_table[ grp ][ chan >> 5 ];
+
+ if ( sr_reg != NULL )
+ *sr_reg = 1 << (chan & 0x1f);
+}
+
+/** tms570_esm_channel_sr_get
+ * @brief Routine to test is specified error channel is signalling error
+ * @param[in] grp - ESM error channels group
+ * @param[in] chan - ESM error channel number inside specified group
+ */
+int tms570_esm_channel_sr_get(
+ unsigned grp,
+ unsigned chan
+)
+{
+ volatile uint32_t *sr_reg;
+
+ sr_reg = tms570_esm_group_channel_to_sr_table[ grp ][ chan >> 5 ];
+
+ if ( sr_reg != NULL )
+ return *sr_reg & ( 1 << ( chan & 0x1f ) );
+ else
+ return 0;
+}
+
+/**
+ * @brief Enable peripheral RAM parity (HCG:enableParity)
+ *
+ * This function enables RAM parity for all peripherals for which RAM parity check is enabled.
+ * This function is called before memoryInit in the startup
+ *
+ */
+void tms570_enable_parity( void )
+{
+ TMS570_DMA.DMAPCR = 0xAU; /* Enable DMA RAM parity */
+ TMS570_VIM.PARCTL = 0xAU; /* Enable VIM RAM parity */
+ TMS570_DCAN1.CTL = ((uint32_t)0xAU << 10U) | 1U; /* Enable CAN1 RAM parity */
+ TMS570_DCAN2.CTL = ((uint32_t)0xAU << 10U) | 1U; /* Enable CAN2 RAM parity */
+ TMS570_DCAN3.CTL = ((uint32_t)0xAU << 10U) | 1U; /* Enable CAN3 RAM parity */
+ TMS570_ADC1.PARCR = 0xAU; /* Enable ADC1 RAM parity */
+ TMS570_ADC2.PARCR = 0xAU; /* Enable ADC2 RAM parity */
+ TMS570_NHET1.PCR = 0xAU; /* Enable HET1 RAM parity */
+ TMS570_HTU1.PCR = 0xAU; /* Enable HTU1 RAM parity */
+ TMS570_NHET2.PCR = 0xAU; /* Enable HET2 RAM parity */
+ TMS570_HTU2.PCR = 0xAU; /* Enable HTU2 RAM parity */
+}
+
+/**
+ * @brief Disable peripheral RAM parity (HCG:disableParity)
+ *
+ * This function disables RAM parity for all peripherals for which RAM parity check is enabled.
+ * This function is called after memoryInit in the startup
+ *
+ */
+void tms570_disable_parity( void )
+{
+ TMS570_DMA.DMAPCR = 0x5U; /* Disable DMA RAM parity */
+ TMS570_VIM.PARCTL = 0x5U; /* Disable VIM RAM parity */
+ TMS570_DCAN1.CTL = ((uint32_t)0x5U << 10U) | 1U; /* Disable CAN1 RAM parity */
+ TMS570_DCAN2.CTL = ((uint32_t)0x5U << 10U) | 1U; /* Disable CAN2 RAM parity */
+ TMS570_DCAN3.CTL = ((uint32_t)0x5U << 10U) | 1U; /* Disable CAN3 RAM parity */
+ TMS570_ADC1.PARCR = 0x5U; /* Disable ADC1 RAM parity */
+ TMS570_ADC2.PARCR = 0x5U; /* Disable ADC2 RAM parity */
+ TMS570_NHET1.PCR = 0x5U; /* Disable HET1 RAM parity */
+ TMS570_HTU1.PCR = 0x5U; /* Disable HTU1 RAM parity */
+ TMS570_NHET2.PCR = 0x5U; /* Disable HET2 RAM parity */
+ TMS570_HTU2.PCR = 0x5U; /* Disable HTU2 RAM parity */
+}
diff --git a/c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest.h b/c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest.h
new file mode 100644
index 0000000000..bbec8c2adf
--- /dev/null
+++ b/c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest.h
@@ -0,0 +1,214 @@
+/**
+ * @file tms570_selftest.h
+ *
+ * @ingroup tms570
+ *
+ * @brief Definition of TMS570 selftest error codes, addresses and functions.
+ */
+/*
+ * Copyright (c) 2016 Pavel Pisa <pisa@cmp.felk.cvut.cz>
+ *
+ * Czech Technical University in Prague
+ * Zikova 1903/4
+ * 166 36 Praha 6
+ * Czech Republic
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.org/license/LICENSE.
+ *
+ * Algorithms are based on Ti manuals and Ti HalCoGen generated
+ * code available under following copyright.
+ */
+/*
+ * Copyright (C) 2009-2015 Texas Instruments Incorporated - www.ti.com
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the
+ * distribution.
+ *
+ * Neither the name of Texas Instruments Incorporated nor the names of
+ * its contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#ifndef LIBBSP_ARM_TMS570_SELFTEST_H
+#define LIBBSP_ARM_TMS570_SELFTEST_H
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#define CCMSELFCHECK_FAIL1 1U
+#define CCMSELFCHECK_FAIL2 2U
+#define CCMSELFCHECK_FAIL3 3U
+#define CCMSELFCHECK_FAIL4 4U
+#define PBISTSELFCHECK_FAIL1 5U
+#define EFCCHECK_FAIL1 6U
+#define EFCCHECK_FAIL2 7U
+#define FMCECCCHECK_FAIL1 8U
+#define CHECKB0RAMECC_FAIL1 9U
+#define CHECKB1RAMECC_FAIL1 10U
+#define CHECKFLASHECC_FAIL1 11U
+#define VIMPARITYCHECK_FAIL1 12U
+#define DMAPARITYCHECK_FAIL1 13U
+#define HET1PARITYCHECK_FAIL1 14U
+#define HTU1PARITYCHECK_FAIL1 15U
+#define HET2PARITYCHECK_FAIL1 16U
+#define HTU2PARITYCHECK_FAIL1 17U
+#define ADC1PARITYCHECK_FAIL1 18U
+#define ADC2PARITYCHECK_FAIL1 19U
+#define CAN1PARITYCHECK_FAIL1 20U
+#define CAN2PARITYCHECK_FAIL1 21U
+#define CAN3PARITYCHECK_FAIL1 22U
+#define MIBSPI1PARITYCHECK_FAIL1 23U
+#define MIBSPI3PARITYCHECK_FAIL1 24U
+#define MIBSPI5PARITYCHECK_FAIL1 25U
+#define CHECKRAMECC_FAIL1 26U
+#define CHECKRAMECC_FAIL2 27U
+#define CHECKCLOCKMONITOR_FAIL1 28U
+#define CHECKFLASHEEPROMECC_FAIL1 29U
+#define CHECKFLASHEEPROMECC_FAIL2 31U
+#define CHECKFLASHEEPROMECC_FAIL3 32U
+#define CHECKFLASHEEPROMECC_FAIL4 33U
+#define CHECKPLL1SLIP_FAIL1 34U
+#define CHECKRAMADDRPARITY_FAIL1 35U
+#define CHECKRAMADDRPARITY_FAIL2 36U
+#define CHECKRAMUERRTEST_FAIL1 37U
+#define CHECKRAMUERRTEST_FAIL2 38U
+#define FMCBUS1PARITYCHECK_FAIL1 39U
+#define FMCBUS1PARITYCHECK_FAIL2 40U
+#define PBISTSELFCHECK_FAIL2 41U
+#define PBISTSELFCHECK_FAIL3 42U
+
+/* PBIST and STC ROM - PBIST RAM GROUPING */
+#define PBIST_ROM_PBIST_RAM_GROUP 1U
+#define STC_ROM_PBIST_RAM_GROUP 2U
+
+#define VIMRAMLOC (*(volatile uint32_t *)0xFFF82000U)
+#define VIMRAMPARLOC (*(volatile uint32_t *)0xFFF82400U)
+
+#define NHET1RAMPARLOC (*(volatile uint32_t *)0xFF462000U)
+#define NHET2RAMPARLOC (*(volatile uint32_t *)0xFF442000U)
+#define adcPARRAM1 (*(volatile uint32_t *)(0xFF3E0000U + 0x1000U))
+#define adcPARRAM2 (*(volatile uint32_t *)(0xFF3A0000U + 0x1000U))
+#define canPARRAM1 (*(volatile uint32_t *)(0xFF1E0000U + 0x10U))
+#define canPARRAM2 (*(volatile uint32_t *)(0xFF1C0000U + 0x10U))
+#define canPARRAM3 (*(volatile uint32_t *)(0xFF1A0000U + 0x10U))
+#define HTU1PARLOC (*(volatile uint32_t *)0xFF4E0200U)
+#define HTU2PARLOC (*(volatile uint32_t *)0xFF4C0200U)
+
+#define NHET1RAMLOC (*(volatile uint32_t *)0xFF460000U)
+#define NHET2RAMLOC (*(volatile uint32_t *)0xFF440000U)
+#define HTU1RAMLOC (*(volatile uint32_t *)0xFF4E0000U)
+#define HTU2RAMLOC (*(volatile uint32_t *)0xFF4C0000U)
+
+#define adcRAM1 (*(volatile uint32_t *)0xFF3E0000U)
+#define adcRAM2 (*(volatile uint32_t *)0xFF3A0000U)
+#define canRAM1 (*(volatile uint32_t *)0xFF1E0000U)
+#define canRAM2 (*(volatile uint32_t *)0xFF1C0000U)
+#define canRAM3 (*(volatile uint32_t *)0xFF1A0000U)
+
+#define DMARAMPARLOC (*(volatile uint32_t *)(0xFFF80A00U))
+#define DMARAMLOC (*(volatile uint32_t *)(0xFFF80000U))
+
+#define MIBSPI1RAMLOC (*(volatile uint32_t *)(0xFF0E0000U))
+#define MIBSPI3RAMLOC (*(volatile uint32_t *)(0xFF0C0000U))
+#define MIBSPI5RAMLOC (*(volatile uint32_t *)(0xFF0A0000U))
+
+#define mibspiPARRAM1 (*(volatile uint32_t *)(0xFF0E0000U + 0x00000400U))
+#define mibspiPARRAM3 (*(volatile uint32_t *)(0xFF0C0000U + 0x00000400U))
+#define mibspiPARRAM5 (*(volatile uint32_t *)(0xFF0A0000U + 0x00000400U))
+
+/** @enum pbistPort
+ * @brief Alias names for pbist Port number
+ *
+ * This enumeration is used to provide alias names for the pbist Port number
+ * - PBIST_PORT0
+ * - PBIST_PORT1
+ *
+ * @Note Check the datasheet for the port avaiability
+ */
+enum pbistPort {
+ PBIST_PORT0 = 0U, /**< Alias for PBIST Port 0 */
+ PBIST_PORT1 = 1U /**< Alias for PBIST Port 1 < Check datasheet for Port 1 availability > */
+};
+
+enum {
+ PBIST_TripleReadSlow = 0x00000001U, /**<TRIPLE_READ_SLOW_READ for PBIST and STC ROM*/
+ PBIST_TripleReadFast = 0x00000002U, /**<TRIPLE_READ_SLOW_READ for PBIST and STC ROM*/
+ PBIST_March13N_DP = 0x00000004U, /**< March13 N Algo for 2 Port mem */
+};
+
+uint32_t tms570_efc_check( void );
+
+bool tms570_efc_check_self_test( void );
+
+void bsp_selftest_fail_notification( uint32_t flag );
+
+void tms570_memory_port0_fail_notification(
+ uint32_t groupSelect,
+ uint32_t dataSelect,
+ uint32_t address,
+ uint32_t data
+);
+
+void tms570_esm_channel_sr_clear(
+ unsigned grp,
+ unsigned chan
+);
+
+int tms570_esm_channel_sr_get(
+ unsigned grp,
+ unsigned chan
+);
+
+void tms570_pbist_self_check( void );
+
+void tms570_pbist_run(
+ uint32_t raminfoL,
+ uint32_t algomask
+);
+
+bool tms570_pbist_is_test_completed( void );
+
+bool tms570_pbist_is_test_passed( void );
+
+void tms570_pbist_fail( void );
+
+void tms570_pbist_stop( void );
+
+void tms570_enable_parity( void );
+
+void tms570_disable_parity( void );
+
+bool tms570_efc_stuck_zero( void );
+
+void tms570_efc_self_test( void );
+
+bool tms570_pbist_port_test_status( uint32_t port );
+
+void tms570_check_tcram_ecc( void );
+
+#endif /*LIBBSP_ARM_TMS570_SELFTEST_H*/
diff --git a/c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest_par_can.c b/c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest_par_can.c
new file mode 100644
index 0000000000..41501c8e27
--- /dev/null
+++ b/c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest_par_can.c
@@ -0,0 +1,93 @@
+/**
+ * @file tms570_selftest_par_can.c
+ *
+ * @ingroup tms570
+ *
+ * @brief Test CAN module parity based protection logic to work.
+ */
+/*
+ * Copyright (c) 2016 Pavel Pisa <pisa@cmp.felk.cvut.cz>
+ *
+ * Czech Technical University in Prague
+ * Zikova 1903/4
+ * 166 36 Praha 6
+ * Czech Republic
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.org/license/LICENSE.
+ *
+ * Algorithms are based on Ti manuals and Ti HalCoGen generated
+ * code.
+ */
+
+#include <stdint.h>
+#include <stddef.h>
+#include <bsp/tms570.h>
+#include "tms570_selftest.h"
+#include "tms570_selftest_parity.h"
+
+/**
+ * @brief run test to check that parity protection works for CAN modules RAM
+ *
+ * @param[in] desc module registers addresses end ESM channels descriptor
+ *
+ * @return Void, in the case of error invokes bsp_selftest_fail_notification()
+ *
+ * The descriptor provides address of the module registers and address
+ * of internal RAM memory and corresponding parity area test access window.
+ */
+void tms570_selftest_par_check_can( const tms570_selftest_par_desc_t *desc )
+{
+ volatile uint32_t test_read_data;
+ volatile tms570_dcan_t *can_regs = (volatile tms570_dcan_t *) desc->fnc_data;
+ uint32_t canctl_bak = can_regs->CTL;
+ uint32_t canctl_pmd;
+ int perr;
+
+ /* Set TEST mode and enable parity checking */
+ /* Disable parity, init mode, TEST mode */
+ canctl_pmd = TMS570_DCAN_CTL_PMD_SET( 0, 0x5 );
+ can_regs->CTL = canctl_pmd | TMS570_DCAN_CTL_Test | TMS570_DCAN_CTL_Init;
+
+ /* Enable RAM Direct Access mode */
+ can_regs->TEST = TMS570_DCAN_TEST_RDA;
+
+ /* flip parity bit */
+ *desc->par_loc ^= desc->par_xor;
+
+ /* Disable TEST mode */
+ canctl_pmd = TMS570_DCAN_CTL_PMD_SET( 0, 0xA );
+ can_regs->CTL = canctl_pmd | TMS570_DCAN_CTL_Test;
+
+ /* read to cause parity error */
+ test_read_data = *desc->ram_loc;
+ (void) test_read_data;
+
+ /* check if ESM channel is flagged */
+ perr = tms570_esm_channel_sr_get( desc->esm_prim_grp, desc->esm_prim_chan );
+
+ if ( !perr ) {
+ /* RAM parity error was not flagged to ESM. */
+ bsp_selftest_fail_notification( desc->fail_code );
+ } else {
+ /* clear ESM flag */
+ tms570_esm_channel_sr_clear( desc->esm_prim_grp, desc->esm_prim_chan );
+
+ /* Set TEST mode and enable parity checking */
+ canctl_pmd = TMS570_DCAN_CTL_PMD_SET( 0, 0x5 );
+ can_regs->CTL = canctl_pmd | TMS570_DCAN_CTL_Test | TMS570_DCAN_CTL_Init;
+
+ /* Revert back to correct data by flipping parity location */
+ *desc->par_loc ^= desc->par_xor;
+ }
+
+ /* Disable RAM Direct Access mode */
+ can_regs->TEST = 0x00000000U;
+
+ /* Restore CTL register */
+ can_regs->CTL = canctl_bak;
+
+ /* Read Error and Status register to clear Parity Error bit */
+ test_read_data = can_regs->ES;
+}
diff --git a/c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest_par_mibspi.c b/c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest_par_mibspi.c
new file mode 100644
index 0000000000..2f693dad42
--- /dev/null
+++ b/c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest_par_mibspi.c
@@ -0,0 +1,105 @@
+/**
+ * @file tms570_selftest_par_can.c
+ *
+ * @ingroup tms570
+ *
+ * @brief Test MibSPI module parity based protection logic to work.
+ */
+/*
+ * Copyright (c) 2016 Pavel Pisa <pisa@cmp.felk.cvut.cz>
+ *
+ * Czech Technical University in Prague
+ * Zikova 1903/4
+ * 166 36 Praha 6
+ * Czech Republic
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.org/license/LICENSE.
+ *
+ * Algorithms are based on Ti manuals and Ti HalCoGen generated
+ * code.
+ */
+
+#include <stdint.h>
+#include <stddef.h>
+#include <bsp/tms570.h>
+#include "tms570_selftest.h"
+#include "tms570_selftest_parity.h"
+
+/**
+ * @brief run test to check that parity protection works for MibSPI modules RAM
+ *
+ * @param[in] desc module registers addresses end ESM channels descriptor
+ *
+ * @return Void, in the case of error invokes bsp_selftest_fail_notification()
+ *
+ * The descriptor provides address of the module registers and address
+ * of internal RAM memory and corresponding parity area test access window.
+ */
+void tms570_selftest_par_check_mibspi( const tms570_selftest_par_desc_t *desc )
+{
+ volatile uint32_t test_read_data;
+ volatile tms570_spi_t *spi_regs = (volatile tms570_spi_t *) desc->fnc_data;
+ uint32_t mibspie_bak;
+ uint32_t uerrctl_bak;
+ int perr;
+ int wait_timeout = 10000;
+
+ /* wait for MibSPI RAM to complete initialization */
+ while ( ( spi_regs->FLG & TMS570_SPI_FLG_BUFINITACTIVE ) ==
+ TMS570_SPI_FLG_BUFINITACTIVE ) {
+ if ( !wait_timeout-- ) {
+ bsp_selftest_fail_notification( desc->fail_code );
+ }
+ }
+
+ /* Store previous configuration of MibSPI */
+ mibspie_bak = spi_regs->MIBSPIE;
+ uerrctl_bak = spi_regs->UERRCTRL;
+
+ /* enable multi-buffered mode */
+ spi_regs->MIBSPIE = TMS570_SPI_MIBSPIE_MSPIENA;
+
+ /* enable parity error detection */
+ spi_regs->UERRCTRL = TMS570_SPI_UERRCTRL_EDEN_SET( spi_regs->UERRCTRL,
+ TMS570_SELFTEST_PAR_CR_KEY );
+
+ /* enable parity test mode */
+ spi_regs->UERRCTRL |= TMS570_SPI_UERRCTRL_PTESTEN;
+
+ /* flip parity bit */
+ *desc->par_loc ^= desc->par_xor;
+
+ /* disable parity TEST mode */
+ spi_regs->UERRCTRL &= ~TMS570_SPI_UERRCTRL_PTESTEN;
+
+ /* read to cause parity error */
+ test_read_data = *desc->ram_loc;
+ (void) test_read_data;
+
+ /* check if ESM channel is flagged */
+ perr = tms570_esm_channel_sr_get( desc->esm_prim_grp, desc->esm_prim_chan );
+
+ if ( !perr ) {
+ /* RAM parity error was not flagged to ESM. */
+ bsp_selftest_fail_notification( desc->fail_code );
+ } else {
+ /* clear parity error flags */
+ spi_regs->UERRSTAT = TMS570_SPI_UERRSTAT_EDFLG1 |
+ TMS570_SPI_UERRSTAT_EDFLG0;
+
+ /* clear ESM flag */
+ tms570_esm_channel_sr_clear( desc->esm_prim_grp, desc->esm_prim_chan );
+
+ /* enable parity test mode */
+ spi_regs->UERRCTRL |= TMS570_SPI_UERRCTRL_PTESTEN;
+
+ /* Revert back to correct data by flipping parity location */
+ *desc->par_loc ^= desc->par_xor;
+ }
+
+ /* Restore MIBSPI control registers */
+ spi_regs->UERRCTRL = uerrctl_bak;
+ spi_regs->MIBSPIE = mibspie_bak;
+}
diff --git a/c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest_par_std.c b/c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest_par_std.c
new file mode 100644
index 0000000000..a9b20b5cb7
--- /dev/null
+++ b/c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest_par_std.c
@@ -0,0 +1,90 @@
+/**
+ * @file tms570_selftest_par_std.c
+ *
+ * @ingroup tms570
+ *
+ * @brief Generic parity based protection logic check applicable to HETx, HTUx, ADC, DMA and VIM.
+ */
+/*
+ * Copyright (c) 2016 Pavel Pisa <pisa@cmp.felk.cvut.cz>
+ *
+ * Czech Technical University in Prague
+ * Zikova 1903/4
+ * 166 36 Praha 6
+ * Czech Republic
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.org/license/LICENSE.
+ *
+ * Algorithms are based on Ti manuals and Ti HalCoGen generated
+ * code.
+ */
+
+#include <stdint.h>
+#include <stddef.h>
+#include <bsp/tms570.h>
+#include "tms570_selftest.h"
+#include "tms570_selftest_parity.h"
+
+/**
+ * @brief run test to check that parity protection works for modules with common setup structure.
+ *
+ * @param[in] desc module registers addresses end ESM channels descriptor
+ *
+ * @return Void, in the case of error invokes bsp_selftest_fail_notification()
+ *
+ * The descriptor provides address of the module registers and address
+ * of internal RAM memory and corresponding parity area test access window.
+ * This test function is usable for HETx, HTUx, ADC, DMA and VIM TMS570
+ * peripherals.
+ */
+void tms570_selftest_par_check_std( const tms570_selftest_par_desc_t *desc )
+{
+ volatile uint32_t test_read_data;
+ uint32_t par_cr_bak = *desc->par_cr_reg;
+ int perr;
+
+ /* Set TEST mode and enable parity checking */
+ *desc->par_cr_reg = desc->par_cr_test | TMS570_SELFTEST_PAR_CR_KEY;
+
+ /* flip parity bit */
+ *desc->par_loc ^= desc->par_xor;
+
+ /* Disable TEST mode */
+ *desc->par_cr_reg = TMS570_SELFTEST_PAR_CR_KEY;
+
+ /* read to cause parity error */
+ test_read_data = *desc->ram_loc;
+ (void) test_read_data;
+
+ /* check if ESM channel is flagged */
+ perr = tms570_esm_channel_sr_get( desc->esm_prim_grp, desc->esm_prim_chan );
+
+ if ( desc->esm_sec_grp )
+ perr |= tms570_esm_channel_sr_get( desc->esm_sec_grp, desc->esm_sec_chan );
+
+ if ( !perr ) {
+ /* RAM parity error was not flagged to ESM. */
+ bsp_selftest_fail_notification( desc->fail_code );
+ } else {
+ /* If periperal has it own parity status register, clear it */
+ if ( desc->par_st_reg != NULL )
+ *desc->par_st_reg = desc->par_st_clear;
+
+ /* clear ESM flag */
+ tms570_esm_channel_sr_clear( desc->esm_prim_grp, desc->esm_prim_chan );
+
+ if ( desc->esm_sec_grp )
+ tms570_esm_channel_sr_clear( desc->esm_sec_grp, desc->esm_sec_chan );
+
+ /* Set TEST mode and enable parity checking */
+ *desc->par_cr_reg = desc->par_cr_test | TMS570_SELFTEST_PAR_CR_KEY;
+
+ /* Revert back to correct data by flipping parity location */
+ *desc->par_loc ^= desc->par_xor;
+ }
+
+ /* Restore Parity comtrol register */
+ *desc->par_cr_reg = par_cr_bak;
+}
diff --git a/c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest_parity.c b/c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest_parity.c
new file mode 100644
index 0000000000..188c65ee80
--- /dev/null
+++ b/c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest_parity.c
@@ -0,0 +1,316 @@
+/**
+ * @file tms570_selftest_parity.c
+ *
+ * @ingroup tms570
+ *
+ * @brief Check of module parity based protection logic to work.
+ */
+/*
+ * Copyright (c) 2016 Pavel Pisa <pisa@cmp.felk.cvut.cz>
+ *
+ * Czech Technical University in Prague
+ * Zikova 1903/4
+ * 166 36 Praha 6
+ * Czech Republic
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.org/license/LICENSE.
+ */
+
+#include <stdint.h>
+#include <stddef.h>
+#include <bsp/tms570.h>
+#include <rtems.h>
+#include "tms570_selftest.h"
+#include "tms570_selftest_parity.h"
+
+/* HCG:het1ParityCheck */
+const tms570_selftest_par_desc_t
+ tms570_selftest_par_het1_desc = {
+ .esm_prim_grp = 1,
+ .esm_prim_chan = 7,
+ .esm_sec_grp = 0,
+ .esm_sec_chan = 0,
+ .fail_code = HET1PARITYCHECK_FAIL1,
+ .ram_loc = &NHET1RAMLOC,
+ .par_loc = &NHET1RAMPARLOC,
+ .par_xor = 0x00000001,
+ .par_cr_reg = &TMS570_NHET1.PCR,
+ .par_cr_test = TMS570_NHET_PCR_TEST,
+ .par_st_reg = NULL,
+ .par_st_clear = 0,
+ .partest_fnc = tms570_selftest_par_check_std,
+ .fnc_data = NULL
+};
+
+/* HCG:htu1ParityCheck */
+const tms570_selftest_par_desc_t
+ tms570_selftest_par_htu1_desc = {
+ .esm_prim_grp = 1,
+ .esm_prim_chan = 8,
+ .esm_sec_grp = 0,
+ .esm_sec_chan = 0,
+ .fail_code = HTU1PARITYCHECK_FAIL1,
+ .ram_loc = &HTU1RAMLOC,
+ .par_loc = &HTU1PARLOC,
+ .par_xor = 0x00000001,
+ .par_cr_reg = &TMS570_HTU1.PCR,
+ .par_cr_test = TMS570_HTU_PCR_TEST,
+ .par_st_reg = &TMS570_HTU1.PAR,
+ .par_st_clear = TMS570_HTU_PAR_PEFT,
+ .partest_fnc = tms570_selftest_par_check_std,
+ .fnc_data = NULL
+};
+
+/* HCG:het2ParityCheck */
+const tms570_selftest_par_desc_t
+ tms570_selftest_par_het2_desc = {
+ .esm_prim_grp = 1,
+ .esm_prim_chan = 7,
+ .esm_sec_grp = 1,
+ .esm_sec_chan = 34,
+ .fail_code = HET2PARITYCHECK_FAIL1,
+ .ram_loc = &NHET2RAMLOC,
+ .par_loc = &NHET2RAMPARLOC,
+ .par_xor = 0x00000001,
+ .par_cr_reg = &TMS570_NHET2.PCR,
+ .par_cr_test = TMS570_NHET_PCR_TEST,
+ .par_st_reg = NULL,
+ .par_st_clear = 0,
+ .partest_fnc = tms570_selftest_par_check_std,
+ .fnc_data = NULL
+};
+
+/* HCG:htu2ParityCheck */
+const tms570_selftest_par_desc_t
+ tms570_selftest_par_htu2_desc = {
+ .esm_prim_grp = 1,
+ .esm_prim_chan = 8,
+ .esm_sec_grp = 0,
+ .esm_sec_chan = 0,
+ .fail_code = HTU2PARITYCHECK_FAIL1,
+ .ram_loc = &HTU2RAMLOC,
+ .par_loc = &HTU2PARLOC,
+ .par_xor = 0x00000001,
+ .par_cr_reg = &TMS570_HTU2.PCR,
+ .par_cr_test = TMS570_HTU_PCR_TEST,
+ .par_st_reg = &TMS570_HTU2.PAR,
+ .par_st_clear = TMS570_HTU_PAR_PEFT,
+ .partest_fnc = tms570_selftest_par_check_std,
+ .fnc_data = NULL
+};
+
+/* HCG:adc1ParityCheck */
+const tms570_selftest_par_desc_t
+ tms570_selftest_par_adc1_desc = {
+ .esm_prim_grp = 1,
+ .esm_prim_chan = 19,
+ .esm_sec_grp = 0,
+ .esm_sec_chan = 0,
+ .fail_code = ADC1PARITYCHECK_FAIL1,
+ .ram_loc = &adcRAM1,
+ .par_loc = &adcPARRAM1,
+ .par_xor = 0xffffffff,
+ .par_cr_reg = &TMS570_ADC1.PARCR,
+ .par_cr_test = TMS570_ADC_PARCR_TEST,
+ .par_st_reg = NULL,
+ .par_st_clear = 0,
+ .partest_fnc = tms570_selftest_par_check_std,
+ .fnc_data = NULL
+};
+
+/* HCG:adc2ParityCheck */
+const tms570_selftest_par_desc_t
+ tms570_selftest_par_adc2_desc = {
+ .esm_prim_grp = 1,
+ .esm_prim_chan = 1,
+ .esm_sec_grp = 0,
+ .esm_sec_chan = 0,
+ .fail_code = ADC2PARITYCHECK_FAIL1,
+ .ram_loc = &adcRAM2,
+ .par_loc = &adcPARRAM2,
+ .par_xor = 0xffffffff,
+ .par_cr_reg = &TMS570_ADC2.PARCR,
+ .par_cr_test = TMS570_ADC_PARCR_TEST,
+ .par_st_reg = NULL,
+ .par_st_clear = 0,
+ .partest_fnc = tms570_selftest_par_check_std,
+ .fnc_data = NULL
+};
+
+/* HCG:can1ParityCheck */
+const tms570_selftest_par_desc_t
+ tms570_selftest_par_can1_desc = {
+ .esm_prim_grp = 1,
+ .esm_prim_chan = 21,
+ .esm_sec_grp = 0,
+ .esm_sec_chan = 0,
+ .fail_code = CAN1PARITYCHECK_FAIL1,
+ .ram_loc = &canRAM1,
+ .par_loc = &canPARRAM1,
+ .par_xor = 0x00001000,
+ .par_cr_reg = NULL,
+ .par_cr_test = 0,
+ .par_st_reg = NULL,
+ .par_st_clear = 0,
+ .partest_fnc = tms570_selftest_par_check_can,
+ .fnc_data = &TMS570_DCAN1
+};
+
+/* HCG:can2ParityCheck */
+const tms570_selftest_par_desc_t
+ tms570_selftest_par_can2_desc = {
+ .esm_prim_grp = 1,
+ .esm_prim_chan = 23,
+ .esm_sec_grp = 0,
+ .esm_sec_chan = 0,
+ .fail_code = CAN2PARITYCHECK_FAIL1,
+ .ram_loc = &canRAM2,
+ .par_loc = &canPARRAM2,
+ .par_xor = 0x00001000,
+ .par_cr_reg = NULL,
+ .par_cr_test = 0,
+ .par_st_reg = NULL,
+ .par_st_clear = 0,
+ .partest_fnc = tms570_selftest_par_check_can,
+ .fnc_data = &TMS570_DCAN2
+};
+
+/* HCG:can3ParityCheck */
+const tms570_selftest_par_desc_t
+ tms570_selftest_par_can3_desc = {
+ .esm_prim_grp = 1,
+ .esm_prim_chan = 22,
+ .esm_sec_grp = 0,
+ .esm_sec_chan = 0,
+ .fail_code = CAN3PARITYCHECK_FAIL1,
+ .ram_loc = &canRAM3,
+ .par_loc = &canPARRAM3,
+ .par_xor = 0x00001000,
+ .par_cr_reg = NULL,
+ .par_cr_test = 0,
+ .par_st_reg = NULL,
+ .par_st_clear = 0,
+ .partest_fnc = tms570_selftest_par_check_can,
+ .fnc_data = &TMS570_DCAN3
+};
+
+/* HCG:vimParityCheck */
+const tms570_selftest_par_desc_t
+ tms570_selftest_par_vim_desc = {
+ .esm_prim_grp = 1,
+ .esm_prim_chan = 15,
+ .esm_sec_grp = 0,
+ .esm_sec_chan = 0,
+ .fail_code = VIMPARITYCHECK_FAIL1,
+ .ram_loc = &VIMRAMLOC,
+ .par_loc = &VIMRAMPARLOC,
+ .par_xor = 0x00000001,
+ .par_cr_reg = &TMS570_VIM.PARCTL,
+ .par_cr_test = TMS570_VIM_PARCTL_TEST,
+ .par_st_reg = &TMS570_VIM.PARFLG,
+ .par_st_clear = TMS570_VIM_PARFLG_PARFLG,
+ .partest_fnc = tms570_selftest_par_check_std,
+ .fnc_data = NULL
+};
+
+/* HCG:dmaParityCheck */
+const tms570_selftest_par_desc_t
+ tms570_selftest_par_dma_desc = {
+ .esm_prim_grp = 1,
+ .esm_prim_chan = 3,
+ .esm_sec_grp = 0,
+ .esm_sec_chan = 0,
+ .fail_code = DMAPARITYCHECK_FAIL1,
+ .ram_loc = &DMARAMLOC,
+ .par_loc = &DMARAMPARLOC,
+ .par_xor = 0x00000001,
+ .par_cr_reg = &TMS570_DMA.DMAPCR,
+ .par_cr_test = TMS570_DMA_DMAPCR_TEST,
+ .par_st_reg = &TMS570_DMA.DMAPAR,
+ .par_st_clear = TMS570_DMA_DMAPAR_EDFLAG,
+ .partest_fnc = tms570_selftest_par_check_std,
+ .fnc_data = NULL
+};
+
+/* HCG:mibspi1ParityCheck */
+const tms570_selftest_par_desc_t
+ tms570_selftest_par_spi1_desc = {
+ .esm_prim_grp = 1,
+ .esm_prim_chan = 17,
+ .esm_sec_grp = 0,
+ .esm_sec_chan = 0,
+ .fail_code = MIBSPI1PARITYCHECK_FAIL1,
+ .ram_loc = &MIBSPI1RAMLOC,
+ .par_loc = &mibspiPARRAM1,
+ .par_xor = 0x00000001,
+ .par_cr_reg = NULL,
+ .par_cr_test = 0,
+ .par_st_reg = NULL,
+ .par_st_clear = 0,
+ .partest_fnc = tms570_selftest_par_check_mibspi,
+ .fnc_data = &TMS570_SPI1
+};
+
+/* HCG:mibspi3ParityCheck */
+const tms570_selftest_par_desc_t
+ tms570_selftest_par_spi3_desc = {
+ .esm_prim_grp = 1,
+ .esm_prim_chan = 18,
+ .esm_sec_grp = 0,
+ .esm_sec_chan = 0,
+ .fail_code = MIBSPI3PARITYCHECK_FAIL1,
+ .ram_loc = &MIBSPI3RAMLOC,
+ .par_loc = &mibspiPARRAM3,
+ .par_xor = 0x00000001,
+ .par_cr_reg = NULL,
+ .par_cr_test = 0,
+ .par_st_reg = NULL,
+ .par_st_clear = 0,
+ .partest_fnc = tms570_selftest_par_check_mibspi,
+ .fnc_data = &TMS570_SPI3
+};
+
+/* HCG:mibspi5ParityCheck */
+const tms570_selftest_par_desc_t
+ tms570_selftest_par_spi5_desc = {
+ .esm_prim_grp = 1,
+ .esm_prim_chan = 24,
+ .esm_sec_grp = 0,
+ .esm_sec_chan = 0,
+ .fail_code = MIBSPI5PARITYCHECK_FAIL1,
+ .ram_loc = &MIBSPI5RAMLOC,
+ .par_loc = &mibspiPARRAM5,
+ .par_xor = 0x00000001,
+ .par_cr_reg = NULL,
+ .par_cr_test = 0,
+ .par_st_reg = NULL,
+ .par_st_clear = 0,
+ .partest_fnc = tms570_selftest_par_check_mibspi,
+ .fnc_data = &TMS570_SPI5
+};
+
+/**
+ * @brief run parity protection mechanism check for set of modules described by list.
+ *
+ * @param[in] desc_arr array of pointers to descriptors providing addresses
+ * and ESM channels for individual peripherals.
+ * @param[in] desc_cnt count of pointers in the array
+ *
+ * @return Void, in the case of error invokes bsp_selftest_fail_notification()
+ */
+void tms570_selftest_par_run(
+ const tms570_selftest_par_desc_t *
+ const *desc_arr,
+ int desc_cnt
+)
+{
+ int i;
+ const tms570_selftest_par_desc_t *desc;
+
+ for ( i = 0; i < desc_cnt; i++ ) {
+ desc = desc_arr[ i ];
+ desc->partest_fnc( desc );
+ }
+}
diff --git a/c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest_parity.h b/c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest_parity.h
new file mode 100644
index 0000000000..a1c3ec7b3e
--- /dev/null
+++ b/c/src/lib/libbsp/arm/tms570/hwinit/tms570_selftest_parity.h
@@ -0,0 +1,110 @@
+/**
+ * @file tms570_selftest_parity.h
+ *
+ * @ingroup tms570
+ *
+ * @brief Check of module parity based protection logic to work.
+ */
+/*
+ * Copyright (c) 2016 Pavel Pisa <pisa@cmp.felk.cvut.cz>
+ *
+ * Czech Technical University in Prague
+ * Zikova 1903/4
+ * 166 36 Praha 6
+ * Czech Republic
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.org/license/LICENSE.
+ */
+
+#ifndef LIBBSP_ARM_TMS570_SELFTEST_PARITY_H
+#define LIBBSP_ARM_TMS570_SELFTEST_PARITY_H
+
+#include <stdint.h>
+
+/**
+ * The magic number used to switch most of the peripherals
+ * into parity protection test mode
+ */
+#define TMS570_SELFTEST_PAR_CR_KEY 0xA
+
+typedef struct tms570_selftest_par_desc tms570_selftest_par_desc_t;
+
+typedef void tms570_selftest_par_fnc_t( const tms570_selftest_par_desc_t *desc );
+
+/**
+ * Decriptor specifying registers addresses and values used to test
+ * that parity protection is working for given hardware
+ * module/peripheral. It is used during initial chip self-tests.
+ */
+struct tms570_selftest_par_desc {
+ unsigned char esm_prim_grp; /**< ESM primary signalling group number. */
+ unsigned char esm_prim_chan; /**< ESM primary signalling channel number. */
+ unsigned char esm_sec_grp; /**< ESM optional/alternative signalling group. */
+ unsigned char esm_sec_chan; /**< ESM optional/alternative signalling channel. */
+ int fail_code; /**< Error code reported to
+ bsp_selftest_fail_notification() in the case of the test failure. */
+ volatile uint32_t *ram_loc; /**< Address of memory protected by parity. */
+ volatile uint32_t *par_loc; /**< Address of mapping of parity bits into CPU
+ * address space. */
+ uint32_t par_xor; /**< Bitmask used to alter parity to cause
+ * intentional parity failure. */
+ volatile uint32_t *par_cr_reg; /**< Address of module parity test control register. */
+ uint32_t par_cr_test; /**< Mask of bit which cause switch to a test mode. */
+ volatile uint32_t *par_st_reg; /**< Optional module parity status register which. */
+ uint32_t par_st_clear; /**< Optional value which is written to status register
+ * to clear error. */
+ tms570_selftest_par_fnc_t *partest_fnc; /**< Function which specialized for given kind
+ * of peripheral/module mechanism testing. */
+ volatile void *fnc_data; /**< Pointer to the base of tested peripheral registers.
+ * It is required by some test functions (CAN and MibSPI) */
+};
+
+extern const tms570_selftest_par_desc_t
+ tms570_selftest_par_het1_desc;
+extern const tms570_selftest_par_desc_t
+ tms570_selftest_par_htu1_desc;
+extern const tms570_selftest_par_desc_t
+ tms570_selftest_par_het2_desc;
+extern const tms570_selftest_par_desc_t
+ tms570_selftest_par_htu2_desc;
+extern const tms570_selftest_par_desc_t
+ tms570_selftest_par_adc1_desc;
+extern const tms570_selftest_par_desc_t
+ tms570_selftest_par_adc2_desc;
+extern const tms570_selftest_par_desc_t
+ tms570_selftest_par_can1_desc;
+extern const tms570_selftest_par_desc_t
+ tms570_selftest_par_can2_desc;
+extern const tms570_selftest_par_desc_t
+ tms570_selftest_par_can3_desc;
+extern const tms570_selftest_par_desc_t
+ tms570_selftest_par_vim_desc;
+const tms570_selftest_par_desc_t
+ tms570_selftest_par_dma_desc;
+const tms570_selftest_par_desc_t
+ tms570_selftest_par_spi1_desc;
+const tms570_selftest_par_desc_t
+ tms570_selftest_par_spi3_desc;
+const tms570_selftest_par_desc_t
+ tms570_selftest_par_spi5_desc;
+
+extern const tms570_selftest_par_desc_t *const
+tms570_selftest_par_list[];
+
+extern const int tms570_selftest_par_list_size;
+
+void tms570_selftest_par_check_std( const tms570_selftest_par_desc_t *desc );
+
+void tms570_selftest_par_check_can( const tms570_selftest_par_desc_t *desc );
+
+void tms570_selftest_par_check_mibspi( const tms570_selftest_par_desc_t *desc );
+
+void tms570_selftest_par_run(
+ const tms570_selftest_par_desc_t *
+ const *desc_arr,
+ int desc_cnt
+);
+
+#endif /* LIBBSP_ARM_TMS570_SELFTEST_PARITY_H */
diff --git a/c/src/lib/libbsp/arm/tms570/hwinit/tms570_sys_core.S b/c/src/lib/libbsp/arm/tms570/hwinit/tms570_sys_core.S
new file mode 100644
index 0000000000..de44cf0d10
--- /dev/null
+++ b/c/src/lib/libbsp/arm/tms570/hwinit/tms570_sys_core.S
@@ -0,0 +1,575 @@
+/*--------------------------------------------------------------------------
+ tms570_sys_core.S
+
+ Copyright (C) 2009-2015 Texas Instruments Incorporated - www.ti.com
+
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the
+ distribution.
+
+ Neither the name of Texas Instruments Incorporated nor the names of
+ its contributors may be used to endorse or promote products derived
+ from this software without specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+-------------------------------------------------------------------------*/
+
+ .section .text
+ .syntax unified
+ .cpu cortex-r4
+ .arm
+
+/*-------------------------------------------------------------------------------*/
+@ Initialize CPU Registers
+@ SourceId : CORE_SourceId_001
+@ DesignId : CORE_DesignId_001
+@ Requirements: HL_SR477, HL_SR476, HL_SR492
+
+ .weak _coreInitRegisters_
+ .type _coreInitRegisters_, %function
+
+_coreInitRegisters_:
+
+ @ After reset, the CPU is in the Supervisor mode (M = 10011)
+ mov r0, lr
+ mov r1, #0x0000
+ mov r2, #0x0000
+ mov r3, #0x0000
+ mov r4, #0x0000
+ mov r5, #0x0000
+ mov r6, #0x0000
+ mov r7, #0x0000
+ mov r8, #0x0000
+ mov r9, #0x0000
+ mov r10, #0x0000
+ mov r11, #0x0000
+ mov r12, #0x0000
+ mov r13, #0x0000
+ mrs r1, cpsr
+ msr spsr_cxsf, r1
+ @ Switch to FIQ mode (M = 10001)
+ cps #17
+ mov lr, r0
+ mov r8, #0x0000
+ mov r9, #0x0000
+ mov r10, #0x0000
+ mov r11, #0x0000
+ mov r12, #0x0000
+ mrs r1, cpsr
+ msr spsr_cxsf, r1
+ @ Switch to IRQ mode (M = 10010)
+ cps #18
+ mov lr, r0
+ mrs r1,cpsr
+ msr spsr_cxsf, r1 @ Switch to Abort mode (M = 10111)
+ cps #23
+ mov lr, r0
+ mrs r1,cpsr
+ msr spsr_cxsf, r1 @ Switch to Undefined Instruction Mode (M = 11011)
+ cps #27
+ mov lr, r0
+ mrs r1,cpsr
+ msr spsr_cxsf, r1 @ Switch to System Mode ( Shares User Mode registers ) (M = 11111)
+ cps #31
+ mov lr, r0
+ mrs r1,cpsr
+ msr spsr_cxsf, r1
+
+ mrc p15, #0x00, r2, c1, c0, #0x02
+ orr r2, r2, #0xF00000
+ mcr p15, #0x00, r2, c1, c0, #0x02
+ mov r2, #0x40000000
+ fmxr fpexc, r2
+
+ fmdrr d0, r1, r1
+ fmdrr d1, r1, r1
+ fmdrr d2, r1, r1
+ fmdrr d3, r1, r1
+ fmdrr d4, r1, r1
+ fmdrr d5, r1, r1
+ fmdrr d6, r1, r1
+ fmdrr d7, r1, r1
+ fmdrr d8, r1, r1
+ fmdrr d9, r1, r1
+ fmdrr d10, r1, r1
+ fmdrr d11, r1, r1
+ fmdrr d12, r1, r1
+ fmdrr d13, r1, r1
+ fmdrr d14, r1, r1
+ fmdrr d15, r1, r1
+
+ bl next1
+next1:
+ bl next2
+next2:
+ bl next3
+next3:
+ bl next4
+next4:
+ bx r0
+
+/*-------------------------------------------------------------------------------*/
+@ Take CPU to IDLE state
+@ SourceId : CORE_SourceId_004
+@ DesignId : CORE_DesignId_004
+@ Requirements: HL_SR493
+
+ .weak _gotoCPUIdle_
+ .type _gotoCPUIdle_, %function
+
+_gotoCPUIdle_:
+
+ WFI
+ nop
+ nop
+ nop
+ nop
+ bx lr
+
+/*-------------------------------------------------------------------------------*/
+@ Enable VFP Unit
+@ SourceId : CORE_SourceId_005
+@ DesignId : CORE_DesignId_006
+@ Requirements: HL_SR492, HL_SR476
+
+ .weak _coreEnableVfp_
+ .type _coreEnableVfp_, %function
+
+_coreEnableVfp_:
+
+ stmfd sp!, {r0}
+ mrc p15, #0x00, r0, c1, c0, #0x02
+ orr r0, r0, #0xF00000
+ mcr p15, #0x00, r0, c1, c0, #0x02
+ mov r0, #0x40000000
+ fmxr fpexc, r0
+ ldmfd sp!, {r0}
+ bx lr
+
+/*-------------------------------------------------------------------------------*/
+@ Enable Event Bus Export
+@ SourceId : CORE_SourceId_006
+@ DesignId : CORE_DesignId_007
+@ Requirements: HL_SR479
+
+ .weak _coreEnableEventBusExport_
+ .type _coreEnableEventBusExport_, %function
+
+_coreEnableEventBusExport_:
+
+ stmfd sp!, {r0}
+ mrc p15, #0x00, r0, c9, c12, #0x00
+ orr r0, r0, #0x10
+ mcr p15, #0x00, r0, c9, c12, #0x00
+ ldmfd sp!, {r0}
+ bx lr
+
+/*-------------------------------------------------------------------------------*/
+@ Disable Event Bus Export
+@ SourceId : CORE_SourceId_007
+@ DesignId : CORE_DesignId_008
+@ Requirements: HL_SR481
+
+ .weak _coreDisableEventBusExport_
+ .type _coreDisableEventBusExport_, %function
+
+_coreDisableEventBusExport_:
+
+ stmfd sp!, {r0}
+ mrc p15, #0x00, r0, c9, c12, #0x00
+ bic r0, r0, #0x10
+ mcr p15, #0x00, r0, c9, c12, #0x00
+ ldmfd sp!, {r0}
+ bx lr
+
+/*-------------------------------------------------------------------------------*/
+@ Enable RAM ECC Support
+@ SourceId : CORE_SourceId_008
+@ DesignId : CORE_DesignId_009
+@ Requirements: HL_SR480
+
+ .weak _coreEnableRamEcc_
+ .type _coreEnableRamEcc_, %function
+
+_coreEnableRamEcc_:
+
+ stmfd sp!, {r0}
+ mrc p15, #0x00, r0, c1, c0, #0x01
+ orr r0, r0, #0x0C000000
+ mcr p15, #0x00, r0, c1, c0, #0x01
+ ldmfd sp!, {r0}
+ bx lr
+
+/*-------------------------------------------------------------------------------*/
+@ Disable RAM ECC Support
+@ SourceId : CORE_SourceId_009
+@ DesignId : CORE_DesignId_010
+@ Requirements: HL_SR482
+
+ .weak _coreDisableRamEcc_
+ .type _coreDisableRamEcc_, %function
+
+_coreDisableRamEcc_:
+
+ stmfd sp!, {r0}
+ mrc p15, #0x00, r0, c1, c0, #0x01
+ bic r0, r0, #0x0C000000
+ mcr p15, #0x00, r0, c1, c0, #0x01
+ ldmfd sp!, {r0}
+ bx lr
+
+/*-------------------------------------------------------------------------------*/
+@ Enable Flash ECC Support
+@ SourceId : CORE_SourceId_010
+@ DesignId : CORE_DesignId_011
+@ Requirements: HL_SR480
+
+ .weak _coreEnableFlashEcc_
+ .type _coreEnableFlashEcc_, %function
+
+_coreEnableFlashEcc_:
+
+ stmfd sp!, {r0}
+ mrc p15, #0x00, r0, c1, c0, #0x01
+ orr r0, r0, #0x02000000
+ dmb
+ mcr p15, #0x00, r0, c1, c0, #0x01
+ ldmfd sp!, {r0}
+ bx lr
+
+/*-------------------------------------------------------------------------------*/
+@ Disable Flash ECC Support
+@ SourceId : CORE_SourceId_011
+@ DesignId : CORE_DesignId_012
+@ Requirements: HL_SR482
+
+ .weak _coreDisableFlashEcc_
+ .type _coreDisableFlashEcc_, %function
+
+_coreDisableFlashEcc_:
+
+ stmfd sp!, {r0}
+ mrc p15, #0x00, r0, c1, c0, #0x01
+ bic r0, r0, #0x02000000
+ mcr p15, #0x00, r0, c1, c0, #0x01
+ ldmfd sp!, {r0}
+ bx lr
+
+/*-------------------------------------------------------------------------------*/
+@ Enable Offset via Vic controller
+@ SourceId : CORE_SourceId_012
+@ DesignId : CORE_DesignId_005
+@ Requirements: HL_SR483
+
+ .weak _coreEnableIrqVicOffset_
+ .type _coreEnableIrqVicOffset_, %function
+
+_coreEnableIrqVicOffset_:
+
+ stmfd sp!, {r0}
+ mrc p15, #0, r0, c1, c0, #0
+ orr r0, r0, #0x01000000
+ mcr p15, #0, r0, c1, c0, #0
+ ldmfd sp!, {r0}
+ bx lr
+
+/*-------------------------------------------------------------------------------*/
+@ Get data fault status register
+@ SourceId : CORE_SourceId_013
+@ DesignId : CORE_DesignId_013
+@ Requirements: HL_SR495
+
+ .weak _coreGetDataFault_
+ .type _coreGetDataFault_, %function
+
+_coreGetDataFault_:
+
+ mrc p15, #0, r0, c5, c0, #0
+ bx lr
+
+/*-------------------------------------------------------------------------------*/
+@ Clear data fault status register
+@ SourceId : CORE_SourceId_014
+@ DesignId : CORE_DesignId_014
+@ Requirements: HL_SR495
+
+ .weak _coreClearDataFault_
+ .type _coreClearDataFault_, %function
+
+_coreClearDataFault_:
+
+ stmfd sp!, {r0}
+ mov r0, #0
+ mcr p15, #0, r0, c5, c0, #0
+ ldmfd sp!, {r0}
+ bx lr
+
+/*-------------------------------------------------------------------------------*/
+@ Get instruction fault status register
+@ SourceId : CORE_SourceId_015
+@ DesignId : CORE_DesignId_015
+@ Requirements: HL_SR495
+
+ .weak _coreGetInstructionFault_
+ .type _coreGetInstructionFault_, %function
+
+_coreGetInstructionFault_:
+
+ mrc p15, #0, r0, c5, c0, #1
+ bx lr
+
+/*-------------------------------------------------------------------------------*/
+@ Clear instruction fault status register
+@ SourceId : CORE_SourceId_016
+@ DesignId : CORE_DesignId_016
+@ Requirements: HL_SR495
+
+ .weak _coreClearInstructionFault_
+ .type _coreClearInstructionFault_, %function
+
+_coreClearInstructionFault_:
+
+ stmfd sp!, {r0}
+ mov r0, #0
+ mcr p15, #0, r0, c5, c0, #1
+ ldmfd sp!, {r0}
+ bx lr
+
+/*-------------------------------------------------------------------------------*/
+@ Get data fault address register
+@ SourceId : CORE_SourceId_017
+@ DesignId : CORE_DesignId_017
+@ Requirements: HL_SR495
+
+ .weak _coreGetDataFaultAddress_
+ .type _coreGetDataFaultAddress_, %function
+
+_coreGetDataFaultAddress_:
+
+ mrc p15, #0, r0, c6, c0, #0
+ bx lr
+
+/*-------------------------------------------------------------------------------*/
+@ Clear data fault address register
+@ SourceId : CORE_SourceId_018
+@ DesignId : CORE_DesignId_018
+@ Requirements: HL_SR495
+
+ .weak _coreClearDataFaultAddress_
+ .type _coreClearDataFaultAddress_, %function
+
+_coreClearDataFaultAddress_:
+
+ stmfd sp!, {r0}
+ mov r0, #0
+ mcr p15, #0, r0, c6, c0, #0
+ ldmfd sp!, {r0}
+ bx lr
+
+/*-------------------------------------------------------------------------------*/
+@ Get instruction fault address register
+@ SourceId : CORE_SourceId_019
+@ DesignId : CORE_DesignId_019
+@ Requirements: HL_SR495
+
+ .weak _coreGetInstructionFaultAddress_
+ .type _coreGetInstructionFaultAddress_, %function
+
+_coreGetInstructionFaultAddress_:
+
+ mrc p15, #0, r0, c6, c0, #2
+ bx lr
+
+/*-------------------------------------------------------------------------------*/
+@ Clear instruction fault address register
+@ SourceId : CORE_SourceId_020
+@ DesignId : CORE_DesignId_020
+@ Requirements: HL_SR495
+
+ .weak _coreClearInstructionFaultAddress_
+ .type _coreClearInstructionFaultAddress_, %function
+
+_coreClearInstructionFaultAddress_:
+
+ stmfd sp!, {r0}
+ mov r0, #0
+ mcr p15, #0, r0, c6, c0, #2
+ ldmfd sp!, {r0}
+ bx lr
+
+/*-------------------------------------------------------------------------------*/
+@ Get auxiliary data fault status register
+@ SourceId : CORE_SourceId_021
+@ DesignId : CORE_DesignId_021
+@ Requirements: HL_SR496
+
+ .weak _coreGetAuxiliaryDataFault_
+ .type _coreGetAuxiliaryDataFault_, %function
+
+_coreGetAuxiliaryDataFault_:
+
+ mrc p15, #0, r0, c5, c1, #0
+ bx lr
+
+/*-------------------------------------------------------------------------------*/
+@ Clear auxiliary data fault status register
+@ SourceId : CORE_SourceId_022
+@ DesignId : CORE_DesignId_022
+@ Requirements: HL_SR496
+
+ .weak _coreClearAuxiliaryDataFault_
+ .type _coreClearAuxiliaryDataFault_, %function
+
+_coreClearAuxiliaryDataFault_:
+
+ stmfd sp!, {r0}
+ mov r0, #0
+ mcr p15, #0, r0, c5, c1, #0
+ ldmfd sp!, {r0}
+ bx lr
+
+/*-------------------------------------------------------------------------------*/
+@ Get auxiliary instruction fault status register
+@ SourceId : CORE_SourceId_023
+@ DesignId : CORE_DesignId_023
+@ Requirements: HL_SR496
+
+ .weak _coreGetAuxiliaryInstructionFault_
+ .type _coreGetAuxiliaryInstructionFault_, %function
+
+_coreGetAuxiliaryInstructionFault_:
+
+ mrc p15, #0, r0, c5, c1, #1
+ bx lr
+
+/*-------------------------------------------------------------------------------*/
+@ Clear auxiliary instruction fault status register
+@ SourceId : CORE_SourceId_024
+@ DesignId : CORE_DesignId_024
+@ Requirements: HL_SR496
+
+ .weak _coreClearAuxiliaryInstructionFault_
+ .type _coreClearAuxiliaryInstructionFault_, %function
+
+_coreClearAuxiliaryInstructionFault_:
+
+ stmfd sp!, {r0}
+ mov r0, #0
+ mrc p15, #0, r0, c5, c1, #1
+ ldmfd sp!, {r0}
+ bx lr
+
+/*-------------------------------------------------------------------------------*/
+@ Clear ESM CCM errorss
+
+ .weak _esmCcmErrorsClear_
+ .type _esmCcmErrorsClear_, %function
+
+_esmCcmErrorsClear_:
+
+ stmfd sp!, {r0-r2}
+ ldr r0, ESMSR1_REG @ load the ESMSR1 status register address
+ ldr r2, ESMSR1_ERR_CLR
+ str r2, [r0] @ clear the ESMSR1 register
+
+ ldr r0, ESMSR2_REG @ load the ESMSR2 status register address
+ ldr r2, ESMSR2_ERR_CLR
+ str r2, [r0] @ clear the ESMSR2 register
+
+ ldr r0, ESMSSR2_REG @ load the ESMSSR2 status register address
+ ldr r2, ESMSSR2_ERR_CLR
+ str r2, [r0] @ clear the ESMSSR2 register
+
+ ldr r0, ESMKEY_REG @ load the ESMKEY register address
+ mov r2, #0x5 @ load R2 with 0x5
+ str r2, [r0] @ clear the ESMKEY register
+
+ ldr r0, VIM_INTREQ @ load the INTREQ register address
+ ldr r2, VIM_INT_CLR
+ str r2, [r0] @ clear the INTREQ register
+ ldr r0, CCMR4_STAT_REG @ load the CCMR4 status register address
+ ldr r2, CCMR4_ERR_CLR
+ str r2, [r0] @ clear the CCMR4 status register
+ ldmfd sp!, {r0-r2}
+ bx lr
+
+ESMSR1_REG: .word 0xFFFFF518
+ESMSR2_REG: .word 0xFFFFF51C
+ESMSR3_REG: .word 0xFFFFF520
+ESMKEY_REG: .word 0xFFFFF538
+ESMSSR2_REG: .word 0xFFFFF53C
+CCMR4_STAT_REG: .word 0xFFFFF600
+ERR_CLR_WRD: .word 0xFFFFFFFF
+CCMR4_ERR_CLR: .word 0x00010000
+ESMSR1_ERR_CLR: .word 0x80000000
+ESMSR2_ERR_CLR: .word 0x00000004
+ESMSSR2_ERR_CLR: .word 0x00000004
+VIM_INT_CLR: .word 0x00000001
+VIM_INTREQ: .word 0xFFFFFE20
+
+
+#if 1/*-------------------------------------------------------------------------------*/
+@ Work Around for Errata CORTEX-R4#57:
+@
+@ Errata Description:
+@ Conditional VMRS APSR_Nzcv, FPSCR May Evaluate With Incorrect Flags
+@ Workaround:
+@ Disable out-of-order single-precision floating point
+@ multiply-accumulate instruction completion
+
+ .weak _errata_CORTEXR4_57_
+ .type _errata_CORTEXR4_57_, %function
+
+_errata_CORTEXR4_57_:
+
+ push {r0}
+ mrc p15, #0, r0, c15, c0, #0 @ Read Secondary Auxiliary Control Register
+ orr r0, r0, #0x10000 @ Set BIT 16 (Set DOOFMACS)
+ mcr p15, #0, r0, c15, c0, #0 @ Write Secondary Auxiliary Control Register
+ pop {r0}
+ bx lr
+#endif
+
+/*-------------------------------------------------------------------------------*/
+@ Work Around for Errata CORTEX-R4#66:
+@
+@ Errata Description:
+@ Register Corruption During A Load-Multiple Instruction At
+@ an Exception Vector
+@ Workaround:
+@ Disable out-of-order completion for divide instructions in
+@ Auxiliary Control register
+
+ .weak _errata_CORTEXR4_66_
+ .type _errata_CORTEXR4_66_, %function
+
+_errata_CORTEXR4_66_:
+
+ push {r0}
+ mrc p15, #0, r0, c1, c0, #1 @ Read Auxiliary Control register
+ orr r0, r0, #0x80 @ Set BIT 7 (Disable out-of-order completion
+ @ for divide instructions.)
+ mcr p15, #0, r0, c1, c0, #1 @ Write Auxiliary Control register
+ pop {r0}
+ bx lr
+/*-------------------------------------------------------------------------------*/
diff --git a/c/src/lib/libbsp/arm/tms570/hwinit/tms570_tcram_tests.c b/c/src/lib/libbsp/arm/tms570/hwinit/tms570_tcram_tests.c
new file mode 100644
index 0000000000..d0c7bbfff5
--- /dev/null
+++ b/c/src/lib/libbsp/arm/tms570/hwinit/tms570_tcram_tests.c
@@ -0,0 +1,185 @@
+/**
+ * @file tms570_tcram_tests.c
+ *
+ * @ingroup tms570
+ *
+ * @brief TCRAM selftest function.
+ */
+/*
+ * Copyright (c) 2016 Pavel Pisa <pisa@cmp.felk.cvut.cz>
+ *
+ * Czech Technical University in Prague
+ * Zikova 1903/4
+ * 166 36 Praha 6
+ * Czech Republic
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.org/license/LICENSE.
+ *
+ * Algorithms are based on Ti manuals and Ti HalCoGen generated
+ * code available under following copyright.
+ */
+/*
+ * Copyright (C) 2009-2015 Texas Instruments Incorporated - www.ti.com
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the
+ * distribution.
+ *
+ * Neither the name of Texas Instruments Incorporated nor the names of
+ * its contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#include <stdint.h>
+#include <bsp/tms570.h>
+#include "tms570_selftest.h"
+#include "tms570_hwinit.h"
+
+#define tcramA1bitError (*(volatile uint32_t *)(0x08400000U))
+#define tcramA2bitError (*(volatile uint32_t *)(0x08400010U))
+
+#define tcramB1bitError (*(volatile uint32_t *)(0x08400008U))
+#define tcramB2bitError (*(volatile uint32_t *)(0x08400018U))
+
+#define tcramA1bit (*(volatile uint64_t *)(0x08000000U))
+#define tcramA2bit (*(volatile uint64_t *)(0x08000010U))
+
+#define tcramB1bit (*(volatile uint64_t *)(0x08000008U))
+#define tcramB2bit (*(volatile uint64_t *)(0x08000018U))
+
+/**
+ * @brief Check TCRAM ECC error detection logic (HCG:checkRAMECC)
+ *
+ * This function checks TCRAM ECC error detection and correction logic.
+ * The function does not return in case of TCRAM error.
+ * It calls bsp_selftest_fail_notification() instead.
+ *
+ */
+/* SourceId : SELFTEST_SourceId_034 */
+/* DesignId : SELFTEST_DesignId_019 */
+/* Requirements : HL_SR408 */
+void tms570_check_tcram_ecc( void )
+{
+ volatile uint64_t ramread;
+ volatile uint32_t regread;
+ uint32_t tcram1ErrStat, tcram2ErrStat = 0U;
+
+ uint64_t tcramA1_bk = tcramA1bit;
+ uint64_t tcramB1_bk = tcramB1bit;
+ uint64_t tcramA2_bk = tcramA2bit;
+ uint64_t tcramB2_bk = tcramB2bit;
+
+ /* Clear RAMOCUUR before setting RAMTHRESHOLD register */
+ TMS570_TCRAM1.RAMOCCUR = 0U;
+ TMS570_TCRAM2.RAMOCCUR = 0U;
+
+ /* Set Single-bit Error Threshold Count as 1 */
+ TMS570_TCRAM1.RAMTHRESHOLD = 1U;
+ TMS570_TCRAM2.RAMTHRESHOLD = 1U;
+
+ /* Enable single bit error generation */
+ TMS570_TCRAM1.RAMINTCTRL = 1U;
+ TMS570_TCRAM2.RAMINTCTRL = 1U;
+
+ /* Enable writes to ECC RAM, enable ECC error response */
+ TMS570_TCRAM1.RAMCTRL = 0x0005010AU;
+ TMS570_TCRAM2.RAMCTRL = 0x0005010AU;
+
+ /* Force a single bit error in both the banks */
+ _coreDisableRamEcc_();
+ tcramA1bitError ^= 1U;
+ tcramB1bitError ^= 1U;
+ _coreEnableRamEcc_();
+
+ /* Read the corrupted data to generate single bit error */
+ ramread = tcramA1bit;
+ ramread = tcramB1bit;
+ (void)ramread;
+
+ /* Check for error status */
+ tcram1ErrStat = TMS570_TCRAM1.RAMERRSTATUS & 0x1U;
+ tcram2ErrStat = TMS570_TCRAM2.RAMERRSTATUS & 0x1U;
+ /*SAFETYMCUSW 139 S MR:13.7 <APPROVED> "LDRA Tool issue" */
+ /*SAFETYMCUSW 139 S MR:13.7 <APPROVED> "LDRA Tool issue" */
+ if ((tcram1ErrStat == 0U) || (tcram2ErrStat == 0U)) {
+ /* TCRAM module does not reflect 1-bit error reported by CPU */
+ bsp_selftest_fail_notification(CHECKRAMECC_FAIL1);
+ } else {
+ if (!tms570_esm_channel_sr_get(1, 26) || !tms570_esm_channel_sr_get(1, 28)) {
+ /* TCRAM 1-bit error not flagged in ESM */
+ bsp_selftest_fail_notification(CHECKRAMECC_FAIL2);
+ } else {
+ /* Clear single bit error flag in TCRAM module */
+ TMS570_TCRAM1.RAMERRSTATUS = 0x1U;
+ TMS570_TCRAM2.RAMERRSTATUS = 0x1U;
+
+ /* Clear ESM status */
+ tms570_esm_channel_sr_clear(1, 26);
+ tms570_esm_channel_sr_clear(1, 28);
+ }
+ }
+
+#if 0
+ /*
+ * This test sequence requires that data abort exception
+ * handler checks for ECC test write enable in RAMCTR (bit 8)
+ * and if the access abort is intended then it should clear
+ * error status TCRAM status register and checks and clears
+ * ESM group3 uncorrectable TCRAM error channels.
+ *
+ * More modifications in BSP and RTEMS ARM support are
+ * required to make this code work.
+ */
+
+ /* Force a double bit error in both the banks */
+ _coreDisableRamEcc_();
+ tcramA2bitError ^= 3U;
+ tcramB2bitError ^= 3U;
+ _coreEnableRamEcc_();
+
+ /* Read the corrupted data to generate double bit error */
+ ramread = tcramA2bit;
+ ramread = tcramB2bit;
+ /* read from location with 2-bit ECC error this will cause a data abort to be generated */
+ /* See HalCoGen support src/sys/asm/dabort.asm */
+ /* _ARMV4_Exception_data_abort_default has to include solution for this special case for RTEMS */
+#endif
+
+ regread = TMS570_TCRAM1.RAMUERRADDR;
+ regread = TMS570_TCRAM2.RAMUERRADDR;
+ (void)regread;
+
+ /* disable writes to ECC RAM */
+ TMS570_TCRAM1.RAMCTRL = 0x0005000AU;
+ TMS570_TCRAM2.RAMCTRL = 0x0005000AU;
+
+ /* Compute correct ECC */
+ tcramA1bit = tcramA1_bk;
+ tcramB1bit = tcramB1_bk;
+ tcramA2bit = tcramA2_bk;
+ tcramB2bit = tcramB2_bk;
+}