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# Out of free firmware for Ti-am62x M4/MCU for Phytec power board

## Project: github.com/tux-evse/ti-am62x-m4-firmware

This code interfaces Phytec power board on Ti-AM62x. It runs on Ti Soc/M4-MCU and exposes through rpmsg/virtio
mechanism a set of protobuf messages to communicate with Linux. Linux ti-am62x-binding-rs companion is written
in rust and is available from the same github project.

This code is a fork/customization from Pionix demonstration Everest firmware for Phytec/Am62x.
It only requirer Ti ARM-CGT-CLANG & MCU-PLUS-SDK-AM62X to be recompiled and compiles independently
of Everest framework.

## Reference

* Ti-tools AM62x/M4 X-chain: https://software-dl.ti.com/processor-sdk-linux/esd/AM64X/latest/exports/docs/linux/Foundational_Components_IPC64x.html
* Linux firmware companion: https://github.com/Tux-Evse/ti-am62x-binding-rs.git
* Pionix original code: https://github.com/PionixPublic/ti-am62x-evse-sdk.git

## Documentation

* https://elinux.org/Beagleboard:BeagleBoneBlack_Debian#TI_PRU_Code_Generation_Tools
* https://github.com/MarkAYoder/PRUCookbook/blob/master/docs/03details/details.adoc
* https://software-dl.ti.com/codegen/docs/tiarmclang/compiler_tools_user_guide/

## Compilation

### Install Ti/Sitara SDK

* Compiler: https://www.ti.com/tool/download/ARM-CGT-CLANG/3.2.0.LTS
* Sysroot: https://www.ti.com/tool/SYSCONFIG#downloads
* SDK: https://www.ti.com/tool/download/MCU-PLUS-SDK-AM62X/09.00.00.19

### Check/Install missing dependencies

* ldd ./ti-cgt-armllvm_3.2.0.LTS/bin/tiarmclang
* zypper/apt install libncurses5
* Fedora sudo ln -sf /usr/lib64/libncurses.so.? /usr/lib64/libtinfo.so.5

## SDK compilation

### Customize import.mak to match your installation path

```bash
cat etc/import.mak
   HOME:=$(HOME)/Workspace/Tux-Evse/Ti
   CGT_GCC_ARM_PATH=$(HOME)/ti-cgt-armllvm_3.2.0.LTS
   DEVICE ?= am62x
   CGT_ARMLLVM_VERSION=3.2.0.LTS
   SYSCONFIG_VERSION=1.18
```

### Fix ClockP_deinit interface bug and build SDK

Search for ClockP_deinit remove (ulong tic) to match with free-rtos public API.
If you did not mess up ```make``` should build library and samples.

## Buiding out-of-tree ti-am62x-m4-firmware

If you have installed Ti SDK within ../Ti as within following directory tree,
then a simple make within sample directory should do the job

```bash
tree -L2 ..
├── Ti
│   ├── mcu_plus_sdk_am62x_09_00_00_19
│   ├── ti-sysconfig_1.18
│   ├── ti-cgt-armllvm_3.2.0.LTS
├── ti-am62x-binding-rs
│   ├── afb-binding
│   ├── Cargo.lock
│   ├── Cargo.toml
│   ├── Fulup-README
│   └── ti-rpmsg
├── ti-am62x-m4-firmware
│   ├── etc
│   ├── Firmware
│   ├── LICENSE
│   ├── Makefile
│   ├── README
│   └── src
```

```bash
git clone [email protected]:tux-evse/ti-am62x-m4-firmware.git
cd ti-am62x-m4-firmware && make
scp Firmware/am62-mcu-m4f0_0-fw My-Board-IP:/usr/local/firmware
```

## config your board
check uboot on

```bash
cat /sys/kernel/debug/remoteproc/remoteproc0/trace0
```

## installing sample firmware on your board

!! Warning: following step may depend on your BSP OS configuration

Check firmware is declared within your kernel

```bash
cat /sys/class/remoteproc/remoteproc0/firmware
```

Place your firmware in the configured location

```bash
scp Firmware/am62-mcu-m4f0_0-fw root@phytec-power:/usr/lib/firmware/
ssh root@phytec-power reboot
```

Connect with a terminal emulateur to M4 serial console

```bash
# dev name may change, but tipically
#  - /dev/ttyUSB0 is the am62x Linux console
#  - /dev/ttyUSB1 is the M4 console
picocom -b 115200 /dev/ttyUSB1
```

Check debug buffer ring

```bash
cat /sys/kernel/debug/remoteproc/remoteproc0/trace0
```

Check firmware (stop non accepted)

```bash
cat /sys/class/remoteproc/remoteproc0/firmware
echo start >/sys/class/remoteproc/remoteproc0/state
```

Start ti-am62x binding

```bash
cynagora-admin set '' 'HELLO' '' '*' yes # give access to devtools via TCP port
/usr/bin/afb-binder -p 1234 -vvv --config /usr/redpesk/ti-am62x-binding-rs/etc/binding-ti-am62x.json
```

Connect with your brower on binding devtool debug interface (make phytec-power host match your config)
http://phytec-power:1234/devtools

## WARNING:

* send tiam62x/pwm=off to move CP from -12 to +12
* send tiam62x/iec6185=true to enable device protobuf firmware event push