Tiva HAL Support

ChibiOS public support forum for topics related to the Texas Instruments Tiva family of micro-controllers.

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Marco
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Tiva HAL Support

Postby Marco » Tue Aug 26, 2014 12:05 am

Hello all,

I finally have some time to pick up the Tiva development again so here it is!

From now on ChibiOS 3 is working on the Texas Instruments Tiva Microcontrollers.
At this moment the Tiva family consists of two subfamilies, the TM4C123x and the TM4C129x.

~ Driver Status
TM4C123x:

Code: Select all

driver        | status
--------------+----------------------------------------------------------------
- hal         | make more configurable
- pal         | working
- adc         |
- can         |
- ext         | working
- gpt         | working
- i2c         | working
- icu         |
- mac         | not available
- pwm         | working
- rtc         |
- sdc         | not available
- serial      | working
- serial usb  |
- spi         | working
- uart        |
- usb         |
- st          | working
- dma         | working, only tested with SPI so far

TM4C129x:

Code: Select all

driver        | status
--------------+----------------------------------------------------------------
- hal         | make more configurable
- pal         | working
- adc         |
- can         |
- ext         | working
- gpt         | working
- i2c         | working
- icu         |
- mac         | working
- pwm         |
- rtc         |
- sdc         | not available
- serial      | working
- serial usb  |
- spi         |
- uart        |
- usb         |
- st          | working
- dma         |

~ Benchmarks
TM4C123 (TM4C123G Launchpad):

Code: Select all

*** ChibiOS/RT test suite
***
*** Kernel:       3.0.0dev
*** Compiled:     Sep 16 2014 - 23:45:38
*** Compiler:     GCC 4.7.4 20140401 (release) [ARM/embedded-4_7-branch revision 209195]
*** Architecture: ARMv7-ME
*** Core Variant: Cortex-M4
*** Port Info:    Advanced kernel mode
*** Platform:     Tiva C Series TM4C123x
*** Test Board:   Texas Instruments TM4C123G Launchpad

----------------------------------------------------------------------------
--- Test Case 1.1 (Threads, enqueuing test #1)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 1.2 (Threads, enqueuing test #2)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 1.3 (Threads, priority change)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 1.4 (Threads, delays)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 2.1 (Semaphores, enqueuing)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 2.2 (Semaphores, timeout)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 2.3 (Semaphores, atomic signal-wait)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 2.4 (Binary Semaphores, functionality)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.1 (Mutexes, priority enqueuing test)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.2 (Mutexes, priority return)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.3 (Mutexes, status)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.4 (CondVar, signal test)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.5 (CondVar, broadcast test)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.6 (CondVar, boost test)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 4.1 (Messages, loop)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 5.1 (Mailboxes, queuing and timeouts)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 6.1 (Events, registration and dispatch)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 6.2 (Events, wait and broadcast)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 6.3 (Events, timeouts)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 7.1 (Heap, allocation and fragmentation test)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 8.1 (Memory Pools, queue/dequeue)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 9.1 (Dynamic APIs, threads creation from heap)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 9.2 (Dynamic APIs, threads creation from memory pool)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 9.3 (Dynamic APIs, registry and references)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 10.1 (Queues, input queues)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 10.2 (Queues, output queues)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.1 (Benchmark, messages #1)
--- Score : 331140 msgs/S, 662280 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.2 (Benchmark, messages #2)
--- Score : 269970 msgs/S, 539940 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.3 (Benchmark, messages #3)
--- Score : 269970 msgs/S, 539940 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.4 (Benchmark, context switch)
--- Score : 1106152 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.5 (Benchmark, threads, full cycle)
--- Score : 198044 threads/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.6 (Benchmark, threads, create only)
--- Score : 291970 threads/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.7 (Benchmark, mass reschedule, 5 threads)
--- Score : 87736 reschedules/S, 526416 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.8 (Benchmark, round robin context switching)
--- Score : 651080 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.9 (Benchmark, I/O Queues throughput)
--- Score : 759984 bytes/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.10 (Benchmark, virtual timers set/reset)
--- Score : 831250 timers/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.11 (Benchmark, semaphores wait/signal)
--- Score : 1313328 wait+signal/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.12 (Benchmark, mutexes lock/unlock)
--- Score : 716360 lock+unlock/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.13 (Benchmark, RAM footprint)
--- System: 460 bytes
--- Thread: 68 bytes
--- Timer : 20 bytes
--- Semaph: 12 bytes
--- EventS: 4 bytes
--- EventL: 20 bytes
--- Mutex : 16 bytes
--- CondV.: 8 bytes
--- Queue : 36 bytes
--- MailB.: 40 bytes
--- Result: SUCCESS
----------------------------------------------------------------------------

Final result: SUCCESS


TM4C129 (TM4C1294 Connected Launchpad):

Code: Select all

*** ChibiOS/RT test suite
***
*** Kernel:       3.0.0dev
*** Compiled:     Aug 25 2014 - 21:24:54
*** Compiler:     GCC 4.7.4 20140401 (release) [ARM/embedded-4_7-branch revision 209195]
*** Architecture: ARMv7-ME
*** Core Variant: Cortex-M4
*** Port Info:    Advanced kernel mode
*** Platform:     Tiva C Series TM4C129x
*** Test Board:   Texas Instruments TM4C1294 Launchpad

----------------------------------------------------------------------------
--- Test Case 1.1 (Threads, enqueuing test #1)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 1.2 (Threads, enqueuing test #2)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 1.3 (Threads, priority change)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 1.4 (Threads, delays)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 2.1 (Semaphores, enqueuing)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 2.2 (Semaphores, timeout)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 2.3 (Semaphores, atomic signal-wait)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 2.4 (Binary Semaphores, functionality)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.1 (Mutexes, priority enqueuing test)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.2 (Mutexes, priority return)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.3 (Mutexes, status)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.4 (CondVar, signal test)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.5 (CondVar, broadcast test)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.6 (CondVar, boost test)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 4.1 (Messages, loop)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 5.1 (Mailboxes, queuing and timeouts)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 6.1 (Events, registration and dispatch)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 6.2 (Events, wait and broadcast)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 6.3 (Events, timeouts)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 7.1 (Heap, allocation and fragmentation test)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 8.1 (Memory Pools, queue/dequeue)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 9.1 (Dynamic APIs, threads creation from heap)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 9.2 (Dynamic APIs, threads creation from memory pool)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 9.3 (Dynamic APIs, registry and references)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 10.1 (Queues, input queues)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 10.2 (Queues, output queues)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.1 (Benchmark, messages #1)
--- Score : 435259 msgs/S, 870518 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.2 (Benchmark, messages #2)
--- Score : 337356 msgs/S, 674712 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.3 (Benchmark, messages #3)
--- Score : 337357 msgs/S, 674714 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.4 (Benchmark, context switch)
--- Score : 1319208 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.5 (Benchmark, threads, full cycle)
--- Score : 242641 threads/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.6 (Benchmark, threads, create only)
--- Score : 378294 threads/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.7 (Benchmark, mass reschedule, 5 threads)
--- Score : 101475 reschedules/S, 608850 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.8 (Benchmark, round robin context switching)
--- Score : 900000 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.9 (Benchmark, I/O Queues throughput)
--- Score : 874740 bytes/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.10 (Benchmark, virtual timers set/reset)
--- Score : 1004544 timers/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.11 (Benchmark, semaphores wait/signal)
--- Score : 1434660 wait+signal/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.12 (Benchmark, mutexes lock/unlock)
--- Score : 665332 lock+unlock/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.13 (Benchmark, RAM footprint)
--- System: 460 bytes
--- Thread: 68 bytes
--- Timer : 20 bytes
--- Semaph: 12 bytes
--- EventS: 4 bytes
--- EventL: 20 bytes
--- Mutex : 16 bytes
--- CondV.: 8 bytes
--- Queue : 36 bytes
--- MailB.: 40 bytes
--- Result: SUCCESS
----------------------------------------------------------------------------

Final result: SUCCESS


~ Code
The source code can be found under the community folder in the ChibiOS svn head checkout and on GitHub.
Let me know what you think of it.

This post will be updated when new information is available.

Marco

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Re: Tiva Support

Postby DeusExMachina » Tue Aug 26, 2014 3:35 am

great job!

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Re: Tiva Support

Postby Giovanni » Tue Aug 26, 2014 8:05 am

Good job.

If you want to support this family I could open a specific forum section, ChibiOS 3 will be more decentralized, each platform will be handled as a sub-project by maintainers.

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Re: Tiva Support

Postby Marco » Tue Aug 26, 2014 8:52 am

Thank you :)

Yes I would like to support this family so a specific forum section for Tiva would be good.

Marco

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Re: Tiva Support

Postby Giovanni » Tue Aug 26, 2014 9:08 am

Here you go :)

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Re: Tiva Support

Postby utzig » Tue Aug 26, 2014 12:59 pm

- Both UARTv1 and UARTv2 look VERY similar, same for GPIOv1, GPIOv2 (no register changes). Any reason for not merging them?
- "serial | not complete" and "pal | not complete". What's missing to make them complete?
- "st | (no working tickless)". There's a lot of timer code in st_lld.c. Is it not working/finished?

Great work so far, btw!

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Re: Tiva Support

Postby Marco » Tue Aug 26, 2014 7:20 pm

Thanks,

I agree with the point about the GPIO and UART drivers. I'll have a look if they can be merged to two single drivers.

The pal driver is missing functionality to change a pad's function at runtime, there is something implemented but i never tested it and it is probably incomplete. It also works different than the STM32 port where you have to set the alternate function before using for example the uart pins if i'm right. I think the Tiva port should work the same way.

The serial driver is actually complete i see.

The st driver indeed contains a lot of timer code. I'm testing the tickless mode with NIL but i don't get the expected results.. After a few ticks NIL wants to set the next tick to a very large number.. It's probably something in the st_lld, i'm not sure what the problem is though.

I also didn't mention that the hal_lld needs to be better configurable from the mcuconf.h file. Especially the TM4C129x family.

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Re: Tiva Support

Postby Marco » Thu Sep 04, 2014 10:53 pm

- GPIO and UART drivers are now shared between TM4C123x and TM4C129x series
- added i2c support

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Re: Tiva Support

Postby Marco » Tue Sep 16, 2014 11:07 pm

- Added gpt support. Only for the A timer of a timer module, B timer is not supported. I'm not sure if it is possible to add this in the future.

EDIT: I also noticed the demo for the TM4C123G Launchpad was running at 16 MHz instead of 80 MHz so the benchmark was not correct. This is fixed now.

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Re: Tiva Support

Postby Marco » Thu Oct 02, 2014 6:57 pm

+ Added pwm support for TM4C123x using the PWM hardware peripheral, still needs some testing and finetuning though.


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